CN115987172A - A fault-tolerant control method for current sensor signal loss of doubly salient motors - Google Patents

Abstract

The application discloses a double salient pole motor current sensor signal loss fault-tolerant control method, which relates to the field of double salient pole motors and aims at double salient pole motors comprising two current sensors.

Description

A fault-tolerant control method for current sensor signal loss of doubly salient motors

technical field

The present application relates to the field of doubly salient motors, in particular to a fault-tolerant control method for a current sensor signal loss of a doubly salient motor.

Background technique

The double salient pole motor is a new type of motor developed on the basis of the switched reluctance motor. Its stator and rotor are both salient pole structures. The three-phase armature windings are concentrated on the stator, and the rotor has no windings, so it has a structure Simple, flexible control, good fault tolerance, suitable for high-speed operation and other advantages, it has become a research hotspot.

The common control strategy of doubly salient motor drive system is double closed-loop control of speed and current, in which the current closed-loop requires accurate phase current feedback information. However, during the operation of the doubly salient motor drive system, current sensor signal loss faults are prone to occur. For example, the patent with the application number 2022106211142 and the patent name "A method for diagnosing the signal loss fault of the doubly salient motor current sensor" discloses the detection current The method of whether the sensor signal is lost or not. The current sensor signal loss fault shows that the sensor output is always 0. When the current sensor has a signal loss fault, it will not only cause a large phase current of the doubly salient motor, which may burn out the phase winding of the doubly salient motor, but also cause A large torque ripple will cause the doubly salient motor to stop when it is severe.

Contents of the invention

In view of the above-mentioned problems and technical requirements, the applicant proposes a fault-tolerant control method for the signal loss of the current sensor of a doubly salient pole motor. The technical solution of the application is as follows:

A doubly salient motor current sensor signal loss fault-tolerant fault-tolerant control method, one end of the A-phase winding, B-phase winding, and C-phase winding of the doubly salient motor is respectively connected to the bridge arm of the first bridge arm of the bridge converter Point, the midpoint of the bridge arm of the second bridge arm and the midpoint of the bridge arm of the third bridge arm, the other ends of the three phase windings are connected to realize a star connection, the first current sensor is connected in series with the A phase winding, the second current sensor is connected to The B-phase windings are connected in series; the signal loss fault tolerance control method of the doubly salient motor current sensor includes:

When it is determined that a signal loss fault occurs in the first current sensor, in the first predetermined electrical angle interval of each electrical angle cycle, the on-off of each switch tube in the bridge converter is controlled according to the first fault-tolerant control method, and the second current The absolute value of the current value sensed by the sensor is used as the feedback value of the current loop, and the first predetermined electrical angle interval is an electrical angle interval in which the phase current of the three-phase winding cannot be obtained through the first current sensor having a signal loss fault;

When it is determined that a signal loss fault occurs in the second current sensor, the on-off of each switch tube in the bridge converter is controlled according to the second fault-tolerant control method in the second predetermined electrical angle interval of each electrical angle cycle, and the first current The absolute value of the current value sensed by the sensor is used as the feedback value of the current loop; the second predetermined electrical angle interval is an electrical angle interval in which the phase current of the three-phase winding cannot be obtained through the second current sensor with a signal loss failure.

Its further technical solution is to control the switching tube T1 of the upper bridge arm of the first bridge arm and the switch tube T1 of the third bridge arm in the first sector of each electrical angle cycle when no signal loss fault occurs in the two current sensors. The switch tube T2 of the lower bridge arm is turned on, and the other switches are controlled to be turned off; in the second sector of each electrical angle cycle, the switch tube T3 of the upper bridge arm of the second bridge arm and the lower bridge arm of the first bridge arm are controlled. The arm switch tube T4 is turned on, and the other switches are controlled to be turned off; in the third sector of each electrical angle cycle, the upper bridge arm switch T5 of the third bridge arm and the lower bridge arm switch of the second bridge arm are controlled The tube T6 is turned on, and the other switching tubes are controlled to be turned off;

When it is determined that a signal loss fault occurs in the first current sensor, determine that the first sector in each electrical angle cycle is the first predetermined electrical angle interval;

When it is determined that a signal loss fault occurs in the second current sensor, it is determined that the third sector in each electrical angle period is the second predetermined electrical angle interval.

Its further technical solution is that the method of controlling the on-off of each switching tube in the bridge converter according to the first fault-tolerant control method within the first predetermined electrical angle interval of each electrical angle cycle includes:

In the first sector of each electrical angle cycle, the upper bridge arm switch T1 of the first bridge arm and the lower bridge arm switch T6 of the second bridge arm are controlled to be turned on, and the other switches are controlled to be turned off, then the second The current value i _LEM2 = _-ia =i _b sensed by the second current sensor in the first sector, where i _a represents the phase current of the A-phase winding, and _ib represents the phase current of the B-phase winding.

Its further technical solution is that the method of controlling the on-off of each switching tube in the bridge converter according to the first fault-tolerant control method within the first predetermined electrical angle interval of each electrical angle cycle includes:

In the first sector of each electrical angle cycle, the lower bridge arm switch T2 of the third bridge arm and the upper bridge arm switch T3 of the second bridge arm are controlled to be turned on, and the other switches are controlled to be turned off, then the first The current value sensed by the second current sensor in the first sector i _LEM2 =i _b = _-ic , where i _b represents the phase current of the B-phase winding, and _ic represents the phase current of the C-phase winding.

Its further technical solution is that the method of controlling the on-off of each switching tube in the bridge converter according to the second fault-tolerant control method within the second predetermined electrical angle interval of each electrical angle cycle includes:

In the third sector of each electrical angle cycle, the upper bridge arm switch T1 of the first bridge arm and the lower bridge arm switch T6 of the second bridge arm are controlled to be turned on, and the other switches are controlled to be turned off, then the second The current value i _LEM1 = _ia =-i _b sensed by a current sensor in the second predetermined electrical angle interval, where i _a represents the phase current of the A-phase winding, and _ib represents the phase current of the B-phase winding.

Its further technical solution is that the method of controlling the on-off of each switching tube in the bridge converter according to the second fault-tolerant control method within the second predetermined electrical angle interval of each electrical angle cycle includes:

In the third sector of each electrical angle cycle, the lower bridge arm switch tube T4 of the first bridge arm and the upper bridge arm switch tube T5 of the third bridge arm are controlled to be turned on, and the other switch tubes are controlled to be turned off, then the second A current value sensed by a current sensor in the second predetermined electrical angle interval i _LEM1 = _ia = _-ic , where i _a represents the phase current of the A-phase winding, and _ic represents the phase current of the C-phase winding.

The beneficial technical effect of the application is:

This application discloses a fault-tolerant control method for the current sensor signal loss fault of a doubly salient motor. The method is aimed at a doubly salient motor including two current sensors. The fault-tolerant control method controls the doubly salient motor drive system, and can still accurately obtain the feedback value of the current loop through another current sensor, so as to avoid the overcurrent phenomenon of the doubly salient motor and realize the signal loss of the current sensor The system operates fault-tolerantly under fault conditions, and the torque ripple is reduced. After actual measurement, under the fault-tolerant control method of this application, the torque output is 5/6 of the normal current sensor. In addition, the method of this application can also be extended to brushless DC Motor drive system current sensor fault tolerance, widely used.

Description of drawings

FIG. 1 is a schematic diagram of the system topology of a doubly salient motor including two current sensors in this application.

Fig. 2 is the inductance curve of the three-phase winding of the doubly salient motor and the conduction logic diagram of the power tube when the topology structure in Fig. 1 is controlled according to the three-phase three-beat control method.

(a) and (b) in Fig. 3 are the three-phase windings of the doubly salient pole motor when the first current sensor loses the signal and the topological structure is respectively adjusted according to the first fault-tolerant control method in two different embodiments The inductance curve and power tube conduction logic diagram.

(c) and (d) in Fig. 3 are the three-phase windings of the doubly salient pole motor when the second current sensor has a signal loss fault and the topology is respectively adjusted according to the second fault-tolerant control method in two different embodiments The inductance curve and power tube conduction logic diagram.

Detailed ways

The specific implementation manners of the present application will be further described below in conjunction with the accompanying drawings.

This application discloses a fault-tolerant control method for a doubly salient motor current sensor signal loss fault tolerance, the method is aimed at a doubly salient motor including two current sensors, please refer to the doubly salient motor including two current sensors shown in Figure 1 The topological structure of the bridge converter, the first bridge arm of the bridge converter includes the upper bridge arm switch tube T1 and the lower bridge arm switch tube T4, the second bridge arm includes the upper bridge arm switch tube T3 and the lower bridge arm switch tube T6, and the third bridge arm The arm includes an upper bridge arm switch tube T5 and a lower bridge arm switch tube T2, and reverse diodes are connected in parallel at both ends of each switch tube in the bridge converter. One end of the three bridge arms in the bridge converter is connected as the winding neutral point N and connected to the positive pole of the DC bus U _dc , and the other ends of the three bridge arms in the bridge converter are connected and connected to the negative pole of the DC bus U _dc , the two ends of the DC bus U _dc are also connected in parallel with the filter capacitor C ₁ .

One end of the A-phase winding, B-phase winding, and C-phase winding of the doubly salient motor is respectively connected to the midpoint of the first bridge arm of the bridge converter, the midpoint of the bridge arm midpoint of the second bridge arm, and the third bridge arm At the midpoint of the bridge arm, the other ends of the three phase windings are connected to achieve a star connection. The first current sensor LEM1 is connected in series with the A-phase winding, and the second current sensor LEM2 is connected in series with the B-phase winding.

When no signal loss occurs in the two current sensors LEM1 and LEM2, the phase current of the three-phase winding can be obtained by using the current value i _LEM1 sensed by the first current sensor LEM1 and the current value i _LEM2 sensed by the second current sensor LEM2 , so as to perform closed-loop control as the feedback value of the current loop. When the switch tube in the bridge converter is controlled according to the three-phase three-beat control method, the inductance curve of the three-phase winding of the doubly salient motor and the conduction logic of the power tube are shown in Figure 2, where L _af is The self-inductance of the A-phase winding, L _bf is the self-inductance of the B-phase winding, and L _cf is the self-inductance of the C-phase winding. Then in each electrical angle cycle of 0° to 360°, the relationship between i _LEM1 , i _LEM2 and the phase currents i _a , i _b and i _c of the three-phase winding is as follows, and this application defines that the current flows from the midpoint of the bridge arm to the neutral point of the winding The direction of the current at point N is the positive direction of the current:

(1) When the rotor position angle θ is within the first sector of [0°, 120°), control the upper bridge arm switch T1 of the first bridge arm and the lower bridge arm switch T2 of the third bridge arm to conduct , and control the other switching tubes to turn off. At this time, the phase current _ia of the A-phase winding is positive, and the phase current ic of the _C -phase winding is negative. And i _LEM1 = _ia = _-ic , i _LEM2 =0.

(2) When the rotor position angle θ is within the second sector of [120°, 240°), control the upper bridge arm switch T3 of the second bridge arm and the lower bridge arm switch T4 of the first bridge arm to conduct , and control the other switching tubes to turn off. At this time, the phase current i _b of the B-phase winding is positive, and the phase current i _a of the A-phase winding is negative. And i _LEM1 =-i _LEM2 =i _a =-i _b .

(3) When the rotor position angle θ is within the third sector of [240°, 360°], control the upper bridge arm switch T5 of the third bridge arm and the lower bridge arm switch T6 of the second bridge arm to conduct , and control the other switching tubes to turn off. At this time, the phase current _ic of the C-phase winding is positive, and the phase current _ib of the B-phase winding is negative. And i _LEM1 =0, i _LEM2 = _ic =-i _b .

In one case, when it is determined that the first current sensor LEM1 has a signal loss fault, i _LEM1 = 0, and when the doubly salient motor system is controlled according to the above control method, the main influence on the doubly salient motor is in the first sector zone, when the rotor position angle θ is within the first sector of [0°, 120°), the phase current of the three-phase winding cannot be obtained from the current value i _LEM1 sensed by the first current sensor LEM1 that has a signal loss fault, Therefore, the current loop cannot obtain the accurate feedback value of the phase current, thus causing the doubly salient motor system to fail to operate normally.

In the present application, the electrical angle interval in which the phase current of the three-phase winding cannot be obtained through the first current sensor LEM1 having a signal loss fault is taken as the first predetermined electrical angle interval. When the control is performed according to the above-mentioned three-phase three-beat control method, the first sector in each electrical angle cycle is the first predetermined electrical angle interval. And in the first predetermined electrical angle interval of each electrical angle cycle, according to the first fault-tolerant control method, the on-off of each switch tube in the bridge converter is controlled, and the absolute value of the current value i _LEM2 sensed by the second current sensor |i _LEM2 | is used as the feedback value of the current loop. In other electrical angle intervals in an electrical angle cycle except the first predetermined electrical angle interval, the on-off of the switch tube in the bridge converter is still controlled according to the control method when no signal loss fault occurs.

Wherein, according to the first fault-tolerant control method, controlling the on-off of each switching tube in the bridge converter includes two different control methods:

(a) In one embodiment, the upper bridge switch T1 of the first bridge arm and the lower bridge of the second bridge arm are controlled in the first predetermined electrical angle interval, that is, in the first sector of each electrical angle cycle The arm switch tube T6 is turned on, and controls other switch tubes to be turned off. Please refer to the inductance curve of the three-phase winding of the doubly salient motor and the conduction logic of the power transistor shown in (a) in Figure 3. Under the first fault-tolerant control method, within three sectors of each electrical angle cycle The turn-on logic of the power transistor is changed from T1T2→T3T4→T5T6 when there is no signal loss fault to T1T6→T3T4→T5T6.

Under the control of the first fault-tolerant control method in this embodiment, in each electrical angle cycle of 0° to 360°, the relationship between i _LEM1 , i _LEM2 and the phase currents _ia , i _b and _ic of the three-phase windings is: :

In the first predetermined electrical angle area of each electrical angle cycle, that is, in the first sector, the switching tubes T1 and T6 are turned on, and the other switching tubes are turned off, then the phase current i of the A-phase winding in the first sector _a is positive, the phase current i _b of the B-phase winding is negative, and the current value i _LEM2 =-i _a =i _b sensed by the second current sensor LEM2, and the current value i _LEM1 =0 sensed by the first current sensor LEM1 .

In the second sector of each electrical angle cycle, control is performed according to the control method when no signal loss fault occurs, that is, the control switch tubes T3 and T4 are turned on, and the other switch tubes are turned off, then in the second sector B The phase current i _b of the phase winding is positive, the phase current i _a of the A phase winding is negative, and i _LEM1 =0, i _LEM2 =-i _a =i _b .

In the third sector of each electrical angle cycle, control is performed according to the control method when no signal loss fault occurs, that is, control T5 and T6 to be turned on, and control other switching tubes to be turned off. Then in the third sector, the phase current _ic of the C-phase winding is positive, and the phase current ib of the B-phase winding is _negative . And i _LEM1 =0, i _LEM2 = _ic =-i _b .

(b) In another embodiment, in the first predetermined electrical angle interval, that is, in the first sector in each electrical angle cycle, the lower bridge arm switch T2 of the third bridge arm and the upper bridge arm T2 of the second bridge arm are controlled. The bridge arm switching tube T3 is turned on, and controls other switching tubes to be turned off. Please refer to the inductance curve of the three-phase winding of the doubly salient motor and the conduction logic of the power transistor shown in (b) in Figure 3. Under the first fault-tolerant control method, within three sectors of each electrical angle cycle The turn-on logic of the power transistor is changed from T1T2→T3T4→T5T6 when there is no signal loss fault to T2T3→T3T4→T5T6.

Under the control of the first fault-tolerant control method in this embodiment, in each electrical angle cycle of 0° to 360°, the relationship between i _LEM1 , i _LEM2 and the phase currents _ia , i _b and _ic of the three-phase windings is: :

In the first predetermined electrical angle area of each electrical angle period, that is, in the first sector, the switching tubes T1 and T2 are turned on, and the other switching tubes are turned off, then the phase current i of the B-phase winding in the first sector _b is positive, the phase current ic of the C-phase winding is negative, and the current value i _LEM2 =i _b = _−ic sensed _by the second current sensor, and the current value i _LEM1 =0 sensed by the first current sensor LEM1 .

In the second sector of each electrical angle cycle, control is performed according to the control method when no signal loss fault occurs, that is, the control switch tubes T3 and T4 are turned on, and the other switch tubes are turned off, then in the second sector B The phase current i _b of the phase winding is positive, the phase current i _a of the A phase winding is negative, and i _LEM1 =0, i _LEM2 =-i _a =i _b .

In the third sector of each electrical angle cycle, control is performed according to the control method when no signal loss fault occurs, that is, control T5 and T6 to be turned on, and control other switching tubes to be turned off. Then in the third sector, the phase current _ic of the C-phase winding is positive, and the phase current ib of the B-phase winding is _negative . And i _LEM1 =0, i _LEM2 = _ic =-i _b .

To sum up, when the signal loss fault of the first current sensor LEM1 occurs, no matter in the first predetermined electrical angle interval according to the first fault-tolerant control method in the above-mentioned embodiment, under the fault-tolerant control, the second current sensor The absolute value |i _LEM2 | of the sensed current value i _LEM2 is the phase current i _b of the B-phase winding, so |i _LEM2 | can be used as the feedback value of the current loop to realize the fault-tolerant operation of the system.

In another case, when it is determined that the second current sensor LEM2 has a signal loss fault, i _LEM2 = 0, when the doubly salient motor system is controlled according to the above control method, the main influence on the doubly salient motor is in the third Sector, when the rotor position angle θ is in the third sector of [240°, 360°], the phase current of the three-phase winding cannot be obtained from the current value i _LEM2 sensed by the second current sensor LEM2 that has a signal loss fault , so the current loop will not be able to obtain accurate feedback values of the phase currents, resulting in the failure of the double salient motor system to operate normally.

In the present application, the electrical angle interval in which the phase current of the three-phase winding cannot be obtained through the second current sensor LEM2 having a signal loss fault is taken as the second predetermined electrical angle interval. When the control is performed according to the above-mentioned three-phase three-beat control method, the third sector in each electrical angle cycle is the second predetermined electrical angle interval. And in the second predetermined electrical angle interval of each electrical angle cycle, control the on-off of each switch tube in the bridge converter according to the second fault-tolerant control method, and the absolute value of the current value i _LEM1 sensed by the first current sensor |i _LEM1 | is used as the feedback value of the current loop. However, in other electrical angle intervals of an electrical angle cycle except the second predetermined electrical angle interval, the switching tubes in the bridge converter are still controlled according to the control logic when no signal loss fault occurs.

Wherein, according to the second fault-tolerant control method, controlling the on-off of each switching tube in the bridge converter includes two different control methods:

(a) In one embodiment, the upper bridge switch T1 of the first bridge arm and the lower bridge of the second bridge arm are controlled in the second predetermined electrical angle interval, that is, in the third sector within each electrical angle period The arm switch tube T6 is turned on, and controls other switch tubes to be turned off. Please refer to the inductance curve and power transistor turn-on logic of the three-phase winding of the doubly salient motor shown in (c) in Figure 3, under the second fault-tolerant control method, within three sectors of each electrical angle cycle The turn-on logic of the power transistor is changed from T1T2→T3T4→T5T6 when there is no signal loss fault to T1T2→T3T4→T1T6.

Under the control of the first fault-tolerant control method in this embodiment, in each electrical angle cycle of 0° to 360°, the relationship between i _LEM1 , i _LEM2 and the phase currents _ia , i _b and _ic of the three-phase windings is: :

In the first sector of each electrical angle cycle, control is carried out according to the control method when no signal loss fault occurs, that is, the control switch tubes T1 and T2 are turned on, and the other switch tubes are turned off, then in the first sector A The phase current i _a of the phase winding is positive, the phase current i _c of the phase C winding is negative, and the current value i _LEM1 = _ia = _-ic sensed by the first current sensor LEM1, and the current value sensed by the second current sensor LEM2 Current value i _LEM2 =0.

In the second sector of each electrical angle cycle, control is performed according to the control method when no signal loss fault occurs, that is, the control switch tubes T3 and T4 are turned on, and the other switch tubes are turned off, then in the second sector B The phase current i _b of the phase winding is positive, the phase current i _a of the phase A winding is negative, and i _LEM1 =i _a =-i _b , i _LEM2 =0.

In the second predetermined electrical angle interval of each electrical angle cycle, that is, in the third sector, T1 and T6 are controlled to be turned on, and other switching tubes are controlled to be turned off. Then in the third sector, the phase current _ia of the A-phase winding is positive, and the phase current _ib of the B-phase winding is negative. And i _LEM1 = _ia =-i _b , i _LEM2 =0.

(b) In another embodiment, in the second predetermined electrical angle interval, that is, in the third sector in each electrical angle cycle, the lower bridge arm switch T4 of the first bridge arm and the upper bridge arm T4 of the third bridge arm are controlled. The bridge arm switching tube T5 is turned on, and controls other switching tubes to be turned off. Please refer to the inductance curve of the three-phase winding of the doubly salient motor and the conduction logic of the power transistor shown in (d) in Figure 3. Under the second fault-tolerant control method, within three sectors of each electrical angle cycle The turn-on logic of the power transistor is changed from T1T2→T3T4→T5T6 when there is no signal loss fault to T1T2→T3T4→T4T5.

Under the control of the second fault-tolerant control method of this embodiment, in each electrical angle cycle of 0° to 360°, the relationship between i _LEM1 , i _LEM2 and the phase currents _ia , i _b and _ic of the three-phase winding is as follows: :

In the first sector of each electrical angle cycle, control is carried out according to the control method when no signal loss fault occurs, that is, the control switch tubes T1 and T2 are turned on, and the other switch tubes are turned off, then in the first sector A The phase current i _a of the phase winding is positive, the phase current i _c of the phase C winding is negative, and the current value i _LEM1 = _ia = _-ic sensed by the first current sensor LEM1, and the current value sensed by the second current sensor LEM2 Current value i _LEM2 =0.

In the second sector of each electrical angle cycle, control is performed according to the control method when no signal loss fault occurs, that is, the control switch tubes T3 and T4 are turned on, and the other switch tubes are turned off, then in the second sector B The phase current i _b of the phase winding is positive, the phase current i _a of the phase A winding is negative, and i _LEM1 =i _a =-i _b , i _LEM2 =0.

In the second predetermined electrical angle interval of each electrical angle cycle, that is, in the third sector, T4 and T5 are controlled to be turned on, and other switching tubes are controlled to be turned off. Then in the third sector, the phase current _ic of the C-phase winding is positive, and the phase current _ia of the A-phase winding is negative. And i _LEM1 = _ia = _-ic , i _LEM2 =0.

To sum up, when the signal loss fault of the second current sensor LEM2 occurs, no matter which of the above-mentioned first fault-tolerant control methods in the above-mentioned embodiment is used for control within the two predetermined electrical angle intervals, under the fault-tolerant control, the first current sensor senses The absolute value |i _LEM1 | of the obtained current value i _LEM1 is the phase current i _a of the A-phase winding, so |i _LEM1 | can be used as the feedback value of the current loop to realize the fault-tolerant operation of the system.

What is described above is only a preferred embodiment of the application, and the application is not limited to the above examples. It can be understood that other improvements and changes directly derived or conceived by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the protection scope of the present application.

Claims (6)

1. A doubly salient motor current sensor signal loss fault fault-tolerant control method is characterized in that, one end of the A-phase winding, the B-phase winding, and the C-phase winding of the doubly-salient motor is respectively connected to the first bridge of the bridge converter The midpoint of the bridge arm of the arm, the midpoint of the bridge arm of the second bridge arm and the bridge arm midpoint of the third bridge arm, the other ends of the three phase windings are connected to realize star connection, the first current sensor is connected in series with the A phase winding, The second current sensor is connected in series with the B-phase winding; the fault-tolerant control method for signal loss of the doubly salient motor current sensor comprises: When it is determined that a signal loss fault occurs in the first current sensor, in the first predetermined electrical angle interval of each electrical angle cycle, the on-off of each switch tube in the bridge converter is controlled according to the first fault-tolerant control method, and the The absolute value of the current value sensed by the second current sensor is used as the feedback value of the current loop, and the first predetermined electrical angle interval cannot obtain the phase current of the three-phase winding through the first current sensor that has a signal loss failure electrical angle range; When it is determined that a signal loss fault occurs in the second current sensor, control the on-off of each switch tube in the bridge converter according to the second fault-tolerant control method in the second predetermined electrical angle interval of each electrical angle cycle, and switch the The absolute value of the current value sensed by the first current sensor is used as the feedback value of the current loop; the second predetermined electrical angle interval cannot obtain the phase current of the three-phase winding through the second current sensor that has a signal loss failure electrical angle range. 2. the doubly salient motor current sensor signal loss fault fault-tolerant control method according to claim 1, is characterized in that, When no signal loss occurs in the two current sensors, in the first sector of each electrical angle cycle, control the switching tube T1 of the upper bridge arm of the first bridge arm and the switching tube T2 of the lower bridge arm of the third bridge arm to conduct turn on and control other switching tubes to turn off; in the second sector of each electrical angle cycle, control the upper bridge arm switching tube T3 of the second bridge arm and the lower bridge arm switching tube T4 of the first bridge arm to conduct, And control other switching tubes to turn off; control the upper bridge arm switching tube T5 of the third bridge arm and the lower bridge arm switching tube T6 of the second bridge arm to conduct in the third sector of each electrical angle cycle, and control All other switching tubes are turned off; When it is determined that a signal loss fault occurs in the first current sensor, determine that the first sector in each electrical angle cycle is the first predetermined electrical angle interval; When it is determined that a signal loss fault occurs in the second current sensor, the third sector in each electrical angle period is determined as the second predetermined electrical angle interval. 3. The doubly salient motor current sensor signal loss fault fault-tolerant control method according to claim 2, characterized in that, in the first predetermined electrical angle interval of each electrical angle cycle, the bridge conversion is controlled according to the first fault-tolerant control method The on-off methods of each switch tube in the device include: In the first sector of each electrical angle cycle, the upper bridge arm switch T1 of the first bridge arm and the lower bridge arm switch T6 of the second bridge arm are controlled to be turned on, and the other switches are controlled to be turned off, then the The current value i _LEM2 = _-ia =i _b sensed by the second current sensor in the first sector, where i _a represents the phase current of the A-phase winding, and _ib represents the phase current of the B-phase winding. 4. The double salient motor current sensor signal loss fault fault-tolerant control method according to claim 2, characterized in that, in the first predetermined electrical angle interval of each electrical angle cycle, the bridge conversion is controlled according to the first fault-tolerant control method The on-off methods of each switch tube in the device include: In the first sector of each electrical angle cycle, control the switch tube T2 of the lower bridge arm of the third bridge arm and the switch tube T3 of the upper bridge arm of the second bridge arm to be turned on, and control the other switches to be turned off, then the The current value i _LEM2 =i _b = _-ic sensed by the second current sensor in the first sector, wherein, i _b represents the phase current of the B-phase winding, and _ic represents the phase current of the C-phase winding. 5. The double salient motor current sensor signal loss fault fault-tolerant control method according to claim 2, characterized in that, in the second predetermined electrical angle interval of each electrical angle cycle, the bridge conversion is controlled according to the second fault-tolerant control method The on-off methods of each switch tube in the device include: In the third sector of each electrical angle cycle, the upper bridge arm switch T1 of the first bridge arm and the lower bridge arm switch T6 of the second bridge arm are controlled to be turned on, and the other switches are controlled to be turned off, then the The current value i _LEM1 = _ia =-i _b sensed by the first current sensor in the second predetermined electrical angle interval, wherein, i _a represents the phase current of the A-phase winding, and _ib represents the phase current of the B-phase winding current. 6. The double salient motor current sensor signal loss fault fault-tolerant control method according to claim 2, characterized in that, in the second predetermined electrical angle interval of each electrical angle cycle, the bridge conversion is controlled according to the second fault-tolerant control method The on-off methods of each switch tube in the device include: In the third sector of each electrical angle cycle, the switch tube T4 of the lower bridge arm of the first bridge arm and the switch tube T5 of the upper bridge arm of the third bridge arm are controlled to be turned on, and the other switches are controlled to be turned off. The current value i _LEM1 = _ia = _-ic sensed by the first current sensor in the second predetermined electrical angle interval, wherein, i _a represents the phase current of the A-phase winding, and _ic represents the phase current of the C-phase winding current.

Images