CN106712601A - Copper consumption minimization-based axial magnetic field flux-switching fault-tolerant motor fault-tolerant control method - Google Patents

Abstract

The invention discloses a copper consumption minimization-based axial magnetic field flux-switching fault-tolerant motor fault-tolerant control method. With the copper consumption minimization-based axial magnetic field flux-switching fault-tolerant motor fault-tolerant control method of the invention adopted, an axial magnetic field flux-switching fault-tolerant motor can operate under a fault-tolerant state when a single-phase open-circuit fault occurs on the axial magnetic field flux-switching fault-tolerant motor, and the copper consumption of the motor can be minimized. An inverter adopts a three-phase four-bridge alarm fault-tolerant topology and judges a fault state according to phase current; when operation is normal, the inverter operates under a three-phase three-bridge arm mode, an axial magnetic field flux-switching fault-tolerant motor control system adopts an SVPWM (Space Vector Pulse Width Modulation) control strategy according to which id=0, so as to distribute d-axis current and q-axis current; and when a single-phase fault occurs, fault-tolerant control is performed, the inverter operates under a two-phase three-bridge arm mode, and magnetizes the motor through controlling the current of a fault-tolerant winding, so that the overall copper consumption of the motor can be minimized. According to the copper consumption minimization-based axial magnetic field flux-switching fault-tolerant motor fault-tolerant control method of the invention, under the single-phase open-circuit condition, and with minimizing the copper consumption adopted as an optimization objective, the motor is switched from a fault state to a fault-tolerant control state, and therefore, the reliability of a motor driving system and the operation efficiency of the motor under the fault-tolerant state can be effectively improved.

Description

Fault-tolerant motor fault tolerant control method is switched based on the minimum axial magnetic field magnetic flux of copper loss

Technical field

The invention belongs to electric drive technology field, it is related to a kind of fault tolerant control method, it is more particularly to a kind of to be based on copper Consume minimum axial magnetic field magnetic flux switching fault-tolerant motor fault tolerant control method.

Background technology

The Fault Tolerance Control Technology of motor has important application in fields such as space flight, traffic and military projects, nonserviceables The sustainable operation of lower motor, can effectively improve the reliability and security of whole system, in recent years, many both domestic and external special Family and scholar are devoted to the research of fault-tolerant motor.

Axial magnetic field magnetic flux switching fault-tolerant motor (Axial filed flux-switching fault tolerant Machine, AFFSFTM) it is a kind of new stator permanent magnetic type flux switch motor, magnetic flux is switched theory and axial magnetic field by it Motor is effectively combined, and replaces original U-shaped conducting magnet core using E shapes conducting magnet core, and structure is as shown in Figure 1.So AFFSFT motors combine permagnetic synchronous motor and flux switch motor feature, on the one hand with simple structure, small volume, control Flexibly the advantages of；On the one hand there is high efficiency, high power density.It is wound with the center tooth of motor E shape conducting magnet cores Exciting Windings for Transverse Differential Protection, enables motor to use weak-magnetic speed-regulating in normal operation；And work as motor and break down, when enabling faults-tolerant control, Exciting Windings for Transverse Differential Protection can carry out additional fault tolerance as fault-tolerant winding to system again.Additionally, mutual between AFFSFT motor three-phase windings Sense effectively reduces Coupling Between Phases compared to self-induction very little, therefore, when motor occurs single-phase fault, failure is with respect to non-faulting The influence of phase is smaller, and such structure makes AFFSFT motors have good fault freedom.

In the running of motor, single-phase fault is generally divided into 4 kinds：The open circuit of single-phase power pipe, single-phase power tube short circuit, Single-phase winding open circuit, single-phase short circuit in winding.Wherein control system inverter bridge is easiest to happens is that single-phase power pipe open circuit fault, And in electric phase winding failure, it is also maximum with the harm of open circuit fault.Because axial magnetic field magnetic flux switching fault-tolerant motor is a kind of new The fault-tolerant motor of type, for its faults-tolerant control, has no phase pertinent literature and report, but due to the various advantages of the motor, can Various occasions such as competent space flight, traffic, military project, safety and reliability problem is particularly important, therefore its fault tolerant control method Research is highly desirable to.

The content of the invention

Technical problem：The present invention provides a kind of axial magnetic field magnetic flux that is applied to and switches fault-tolerant motor, with the copper that motor is overall Consumption is minimised as the electric current of the fault-tolerant winding of target control, is optimized motor operation non-faulting phase current in fault-tolerant state, And substantially increase the axial magnetic field magnetic flux switching fault-tolerant motor fault tolerant control method minimum based on copper loss of the utilization rate of electric energy.

Technical scheme：The axial magnetic field magnetic flux minimum based on copper loss of the invention switches fault-tolerant motor fault tolerant control method, Comprise the following steps：

(1) from motor main circuit collection three-phase current i_a、i_b、i_c, current in middle wire i_N, and fault-tolerant winding current i_f, inversion Device busbar voltage U_dc, initial position detection is carried out to motor, signal is gathered from motor encoder, at feeding controller Reason, draws rotating speed n and rotor position angle θ；

(2) voltage, the current signal for collecting the step (1), through following, filter, bias and A/D conversion feeding Controller, then to the three-phase current i_a、i_b、i_cCoordinate transform is carried out, the stator d axles electricity under two-phase rotating coordinate system is obtained Stream i_dWith stator q shaft currents i_q；

(3) given rotating speed n is used^*Subtract encoder actual measurement rotating speed n, the rotating speed deviation delta n input speed adjusters for obtaining, warp Proportional integral obtains current torque component reference value after calculatingWith describedSubtract the stator that coordinate transform in step (2) is obtained Q shaft currents i_qObtain deviation Δ i_q, with electric current excitation component reference valueSubtract the stator d that coordinate transform in step (2) is obtained Shaft current i_dObtain deviation Δ i_d, by the Δ i_dWith Δ i_qCorresponding current regulator is input into, output valve is by Feedforward Decoupling Link and Park inverse transformations obtain rotor α shaft voltages U_αWith rotor β shaft voltages U_β, and send into SVPWM generators and processed；

(4) according to three-phase current failure judgement state, fault-tolerant motor running status is switched when axial magnetic field magnetic flux is detected When normal, into step 5), when axial magnetic field magnetic flux switching fault-tolerant motor generation single-phase fault is detected, into step 6)；

(5) i is used_d=0 control strategy, will step 3) in current excitation component reference valueIt is set to zero, inverter work Make under the bridge arm pattern of three-phase three, SVPWM generators determine phase voltage vector Into step 9)；

(6) motor fault-tolerant control still uses i_d=0 control strategy, inverter is operated under the bridge arm pattern of two-phase three, SVPWM generators make faulted phase voltage vector be replaced by center line N phase voltages vector by algorithm changeover, invertor operation is existed Under the bridge arm pattern of two-phase three, now center line N phase voltages vector U_NNIt is constantly equal to 0, non-faulting phase voltage vector U_xN,U_yN∈{-U_dc,0, U_dc}；

(7) fault-tolerant winding increases magnetic to motor, determines fault-tolerant winding current reference valueIts value meets：

Wherein, R_fIt is fault-tolerant winding resistance, I_sIt is armature winding current effective value,For phase permanent magnet flux linkage amplitude is initial Value, R_sIt is phase winding resistance, ψ_pm(i_f) for motor increase magnetic during phase permanent magnet flux linkage amplitude with electric current i_fChange functional relation；

(8) with fault-tolerant winding current reference valueSubtract the actual current i collected in the step (1)_f, obtain electric current Deviation Δ i_f, by the Δ i_fInput pulse width modulation module, computing exports 4 road pulse width modulating signals, drive control The H bridge inverters of fault-tolerant winding current simultaneously enter step (9)；

(9) SVPWM generators are according to judging input quantity U_αAnd U_βThe sector at place, calculates the step (5) or step (6) action time of gained phase voltage vector in, computing exports 8 road pulse width modulating signals, drives three-phase four-arm inversion Device works.

In a kind of preferred scheme of the inventive method, in step (4), according to the phase current virtual value failure judgement for collecting State, i.e.,：Actual measurement phase current is i_k, virtual value is I_k, wherein k is the symbol for representing a, b, c three-phase, when the inspection in detection cycle Measure I_k∈ (- ε, ε), then judge that axial magnetic field magnetic flux switching fault-tolerant motor has single-phase open circuit fault；When at continuous two Detected in above detection cycleWherein k₁Represent failure phase, k₂、k₃Non-faulting phase is represented, and Meet k₁,k₂,k₃∈ [a, b, c], k₁≠k₂≠k₃, then judge that axial magnetic field magnetic flux switching fault-tolerant motor has single-phase earthing fault to send out It is raw；When above two kinds of situations without when, judge motor status normally, wherein ε be one close to zero number.

In a kind of preferred scheme of the inventive method, fault-tolerant winding current reference is determined in step (7) as follows Value

1) by experiment or motor finite element simulation data, phase permanent magnet flux linkage amplitude is with electricity during obtaining motor increasing magnetic Stream i_fChange function ψ_pm(i_f)；

2) by motor fault-tolerant winding resistance R_f, armature winding current effective value I_s, phase winding resistance R_s, and the step The rapid change function ψ for 1) obtaining_pm(i_f) calculate motor fault-tolerant run when copper loss P_copper(i_f)；

3) by the copper loss P_copper(i_f) to fault-tolerant electric current i_fDerivation, makes the null fault-tolerant current value of derivative expressions, As fault-tolerant winding current reference value

The present invention is opened up on the basis of the axial magnetic field flux switching fault-tolerant motor of analysis with reference to the inverter of three-phase four-arm Structure is flutterred, is aided in using fault-tolerant winding, and by algorithm, it is fault-tolerant as target control with the copper loss-minimization that motor is overall The electric current of winding, is optimized motor operation non-faulting phase current in fault-tolerant state, and substantially increase the utilization of electric energy Rate.

Beneficial effect：Axial magnetic field magnetic flux switching fault-tolerant electric motor control system inverter bridge is easiest to happens is that single-phase power Pipe open circuit fault, and in electric phase winding failure, it is also maximum with the harm of open circuit fault.For both single-phase open circuit faults, meeting The balance of destruction drive system operation, torque and speed ripple that generation cannot suppress, long-time failure operation can give motor belt motor Carry out irreversible infringement.The present invention passes through step 4) to step 7) axial magnetic field magnetic flux switch fault-tolerant electric motor control system, energy Enough accurate detection malfunctions, the motor for making can operate in fault-tolerant state after breaking down, so the present invention is with following Advantage：

(1) control system can make axial magnetic field magnetic flux switch fault-tolerant motor operated in time after breaking down it is fault-tolerant State；

(2) electricity of non-faulting phase when the control system can optimize axial magnetic field magnetic flux switching fault-tolerant motor fault-tolerant operation Stream, the carrying load ability of motor when improving fault-tolerant operation；

(3) control system can switch the size of the fault-tolerant winding current of fault-tolerant motor by controlling axial magnetic field flux, Copper loss-minimization when running motor fault-tolerant, substantially increases the efficiency of operation.

Brief description of the drawings

Fig. 1 is AFFSFT motor body topological structures.

Fig. 2 is AFFSFT motor inverter topological structures.

Fig. 3 is the system block diagram of the inventive method.

Fig. 4 is the logical flow chart of the inventive method.

Three-phase current and N phase current waveforms when Fig. 5 is AFFSFT motor operations.

Fig. 6 is the I that AFFSFT copper wastages are minimized_s-i_fCurve.

Fig. 7 is each I of AFFSFT motors_sUnder i_f-P_copperCurve.

Specific embodiment

With reference to example and Figure of description, the present invention is further illustrated.

The present invention is a kind of axial magnetic field flux switch motor fault tolerant control method minimum based on copper loss, and the motor is by two Individual structure identical external stator and an internal rotor composition, both are salient-pole structure, and permanent magnet and armature winding are all placed in fixed On son, Fig. 1 is its topology diagram.Each stator includes 6 E shapes conducting magnet cores, 6 pieces of permanent magnets, 6 armature coils and 6 Fault-tolerant (excitation) coil.Each armature coil is wound on two side teeth of adjacent E shapes conducting magnet core, each fault-tolerant (excitation) line Circle is wound in the center tooth of E shape conducting magnet cores, and adjacent side between cog insertion permanent magnet, permanent magnet tangentially alternately magnetizes, both sides On stator just to permanent magnet magnetizing direction it is opposite.Stator winding uses concentratred winding, and the A phase coils on stator 1 are by loop A 11 It is composed in series with A12, the A phase coils on stator 2 are composed in series by loop A 21 and loop A 22, and both sides stator winding can the company of series connection Connect, B phases are with C phases similarly.Rotor has 14 teeth, is evenly distributed on the excircle of non-magnetic annulus.

The present invention in order to realize axial magnetic field magnetic flux switch fault-tolerant motor fault-tolerant operation, as shown in Fig. 2 armature around It is in Y-connection that group inverter bridge employs the topological structure of three-phase four-arm, i.e. A, B, C threephase armature winding, and by center line N phases Draw, inverter bridge is mutually accessed as the 4th, and fault-tolerant (excitation) winding inverter uses H bridge constructions.

Fig. 3 is to realize that the present invention is based on the minimum axial magnetic field magnetic flux switching fault-tolerant motor fault tolerant control method of copper loss System block diagram, the control system by dc source, bus capacitor, dsp controller, power inverter, voltage-current sensor, AFFSFT motors, photoelectric encoder etc. are constituted.

Dc bus is powered to whole system, and by giving power inverter after capacitor filtering, Hall voltage sensor is adopted Collection busbar voltage, by sending into controller after conditioning.The output termination AFFSFT motors of power inverter, Hall current sensor Collection phase current and fault-tolerant winding current, send into controller, encoder circuit collection rotating speed and rotor-position signal, place after conditioning Controller is sent into after reason and calculates rotor-position and rotating speed.In the road pwm signal difference driving power converter of controller output 12 12 power tubes.

Axial magnetic field magnetic flux switching fault-tolerant motor fault tolerant control method based on minimum copper loss of the invention, shown in Fig. 4, tool Body is comprised the following steps：

(1) five Hall current sensor is respectively from motor main circuit collection stator three-phase current i_a、i_b、i_c, current in middle wire i_N, and fault-tolerant winding current i_f, Hall voltage sensor collection inverter busbar voltage U_dc, line home position inspection is entered to motor Survey, signal is gathered from motor encoder, feeding controller is processed, and draws rotating speed n and rotor position angle θ；

(2) voltage, the current signal that will be collected, through following, filter, bias and A/D conversion feeding controller, then To three-phase current i_a、i_b、i_cCoordinate transform is carried out, the stator d shaft currents i under two-phase rotating coordinate system is obtained_dWith stator q axles electricity Stream i_q；

(3) given rotating speed n is used^*Subtract encoder actual measurement rotating speed n, the rotating speed deviation delta n input speed adjusters for obtaining, warp Proportional integral obtains current torque component reference value after calculatingWithThe stator q shaft currents i collected in subtracting 2)_qObtain partially Difference DELTA i_q, with electric current excitation component reference valueThe stator d shaft currents i collected in subtracting 2)_dObtain deviation Δ i_d, by Δ i_dWith Δ i_qCorresponding current regulator is input into, output valve obtains rotor α shaft voltages by Feedforward Decoupling link and Park inverse transformations U_αWith rotor β shaft voltages U_β, and send into SVPWM generators and processed；

(4) according to the phase current virtual value failure judgement state for collecting, that is, it is i to survey phase current_k(k=a, b, c), its Virtual value is I_k(k=a, b, c), when detecting I in detection cycle_k∈ (- ε, ε), wherein ε be one close to zero number, or The current effective value that person detects a wherein phase in continuous two or more detection cycle is significantly greater than other two-phase, then can determine whether Axial magnetic field magnetic flux switching fault-tolerant motor has single-phase road failure, into step 6), otherwise judge that motor status are normal, enter Step 5)；

(5) inverter is operated under the bridge arm pattern of three-phase three, SVPWM generators according to conventional algorithm normal operation, according to Principle of vector control, in d-q coordinate systems, show that axial magnetic field system switches the Mathematical Modeling of fault-tolerant motor.

Three-phase current is respectively：

Flux linkage equations：

Voltage equation：

Torque equation：

Wherein, i_a、i_b、i_cRespectively stator three-phase current, I_mIt is phase current magnitude, θ is phase angle；ψ_d、ψ_qRespectively d axles with Q axle magnetic linkages, i_d、i_qRespectively d axles and q shaft currents, L_d、L_qRespectively d axles and q axle inductances, ψ_pmIt is permanent magnet flux linkage；u_d、u_qPoint Wei not d axles and q shaft voltages, R_sIt is armature winding resistance, ω_eIt is angular rate；T_eIt is electromagnetic torque, p is motor number of pole-pairs.

Using i_d=0 SVPWM controls, i.e. step 3) in current excitation component reference valueIt is set to zero, now, inversion Eight phase voltage vector U of voltage vector synthesis of device_AN、U_BNAnd U_CN, and three-phase voltage by Clark conversion after in the coordinates of α β 0 Voltage U under system_αAnd U_βValue as shown in table 1, into step 9)；

Voltage vector table when the AFFSFT motors of table 1 normally run

(6) motor fault-tolerant control still uses i_d=0 control strategy, inverter is operated under the bridge arm pattern of two-phase three, Total magnetomotive force is before axial magnetic field magnetic flux switching fault-tolerant electric motor control system failure：

Wherein, TMMF is total magnetomotive force, F_a、F_b、F_cRespectively A, B, C phase magnetomotive force, N is the armature winding number of turn, and α is sky Between twiddle factor.

Assuming that axial magnetic field magnetic flux switching fault-tolerant motor A phases occur open circuit fault, total magnetomotive force is：

Wherein, TMMF' is the total magnetomotive force of faults-tolerant control, F_b'、F_c' for faults-tolerant control when B, C phase magnetomotive force；i_b'、i_c' B, C phase current during for faults-tolerant control.

In order to ensure axial magnetic field flux switch permanent magnet motor can fault-tolerant operation, make formula (6) and formula (5) real part and imaginary part It is equal respectively, so as to can obtain：

To realize such electric current distribution, SVPWM generators make A phase voltages vector by center line N phases electricity by algorithm changeover Pressure vector replaces, now, eight phase voltage vector U of voltage vector synthesis of inverter_NN、U_BNAnd U_CN, and three-phase voltage process Voltage U after Clark conversion under the coordinate systems of α β 0_αAnd U_βValue as shown in table 2, it is identical with table 1；

Voltage vector table when the AFFSFT motor fault-tolerants of table 2 run

(7) copper loss before and after motor fault-tolerant is calculated：

Copper loss when motor normally runs is：

Motor directly with step 6) the electric current method of salary distribution fault-tolerant operation when copper loss：

In step 6) on the basis of, aided in using fault-tolerant winding, copper loss during fault-tolerant operation：

Based on the fault tolerant control method that copper loss is minimum, exactly make fault-tolerant winding reference currentFormula (10) derivative is got to be equal to 0 point, that is, meet：

Wherein, R_fIt is fault-tolerant winding resistance, I_sIt is armature winding current effective value,For phase permanent magnet flux linkage amplitude is initial Value, R_sIt is phase winding resistance, ψ_pm(i_f) for motor increase magnetic during phase permanent magnet flux linkage amplitude with electric current i_fChange function, no matter It is that, by finite element simulation or experiment, ψ can be measured_pm(i_f) it is a monotonically increasing function, and with i_fIncrease, its Derivative goes to zero；

(8) with fault-tolerant winding current reference valueSubtract step 1) in the actual current i that collects_f, obtain current deviation value Δi_f, by Δ i_fInput pulse width modulation module, computing exports 4 road pulse width modulating signals, the fault-tolerant winding electricity of drive control The H bridge inverters of stream；

(9) SVPWM generators are according to judging input quantity U_αAnd U_βThe sector at place, calculates step 5) or step 6) in institute The action time of phase voltage vector is obtained, computing exports 8 road pulse width modulating signals, drive three-phase four-leg inverter work.

Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art For personnel, under the premise without departing from the principles of the invention, some improvement and equivalent can also be made, these are to the present invention Claim be improved with the technical scheme after equivalent, each fall within protection scope of the present invention.

Claims (3)

1. a kind of axial magnetic field magnetic flux minimum based on copper loss switches fault-tolerant motor fault tolerant control method, it is characterised in that the party Method is comprised the following steps：

(1) from motor main circuit collection three-phase current i_a、i_b、i_c, current in middle wire i_N, and fault-tolerant winding current i_f, inverter mother Line voltage U_dc, initial position detection is carried out to motor, signal is gathered from motor encoder, feeding controller is processed, obtained Go out rotating speed n and rotor position angle θ；

(2) voltage, the current signal for collecting the step (1), through following, filter, bias and A/D conversion feeding control Device, then to the three-phase current i_a、i_b、i_cCoordinate transform is carried out, the stator d shaft currents i under two-phase rotating coordinate system is obtained_d With stator q shaft currents i_q；

(3) given rotating speed n is used^*Subtract encoder actual measurement rotating speed n, the rotating speed deviation delta n input speed adjusters for obtaining, through ratio Current torque component reference value is obtained after integral and calculatingWith describedSubtract the stator q axles that coordinate transform in step (2) is obtained Electric current i_qObtain deviation Δ i_q, with electric current excitation component reference valueSubtract the stator d axles that coordinate transform in step (2) is obtained Electric current i_dObtain deviation Δ i_d, by the Δ i_dWith Δ i_qCorresponding current regulator is input into, output valve is by Feedforward Decoupling ring Section and Park inverse transformations obtain rotor α shaft voltages U_αWith rotor β shaft voltages U_β, and send into SVPWM generators and processed；

(4) according to three-phase current failure judgement state, when detecting, axial magnetic field magnetic flux switching fault-tolerant motor running status is normal When, into step 5), when axial magnetic field magnetic flux switching fault-tolerant motor generation single-phase fault is detected, into step 6)；

(5) i is used_d=0 control strategy, will step 3) in current excitation component reference valueZero is set to, inverter is operated in Under the bridge arm pattern of three-phase three, SVPWM generators determine phase voltage vector Into step 9)；

(6) motor fault-tolerant control still uses i_d=0 control strategy, inverter is operated under the bridge arm pattern of two-phase three, SVPWM Generator makes faulted phase voltage vector be replaced by center line N phase voltages vector by algorithm changeover, makes invertor operation in two-phase three Under bridge arm pattern, now center line N phase voltages vector U_NNIt is constantly equal to 0, non-faulting phase voltage vector U_xN,U_yN∈{-U_dc,0,U_dc}；

(7) fault-tolerant winding increases magnetic to motor, determines fault-tolerant winding current reference valueIts value meets：

$2i_f{R}_f-12I_s^2{\mathrm{\ψ}}_{{\mathrm{pm}}_0}^2{R}_s\frac{{\mathrm{\ψ}}_{pm}^{\′}\left(i_f\right)}{{\[{\mathrm{\ψ}}_{pm}\left(i_f\right)\]}^3}{|}_{i_f=i_f^{*}}=0$

Wherein, R_fIt is fault-tolerant winding resistance, I_sIt is armature winding current effective value,It is phase permanent magnet flux linkage amplitude initial value, R_s It is phase winding resistance, ψ_pm(i_f) for motor increase magnetic during phase permanent magnet flux linkage amplitude with electric current i_fChange functional relation；

(8) with fault-tolerant winding current reference valueSubtract the actual current i collected in the step (1)_f, obtain current deviation Value Δ i_f, by the Δ i_fInput pulse width modulation module, computing exports 4 road pulse width modulating signals, and drive control is fault-tolerant The H bridge inverters of winding current simultaneously enter step (9)；

(9) SVPWM generators are according to judging input quantity U_αAnd U_βThe sector at place, in calculating the step (5) or step (6) The action time of gained phase voltage vector, computing exports 8 road pulse width modulating signals, drives three-phase four-leg inverter work Make.

2. the axial magnetic field magnetic flux minimum based on copper loss according to claim 1 switches fault-tolerant motor fault tolerant control method, Characterized in that, in the step (4), according to the phase current virtual value failure judgement state for collecting, i.e.,：Surveying phase current is i_k, virtual value is I_k, wherein k is the symbol for representing a, b, c three-phase, when detecting I in detection cycle_k∈ (- ε, ε), then judge Axial magnetic field magnetic flux switching fault-tolerant motor has single-phase open circuit fault；Detected when in continuous two or more detection cycleWherein k₁Represent failure phase, k₂、k₃Non-faulting phase is represented, and meets k₁,k₂,k₃∈[a,b, C], k₁≠k₂≠k₃, then judge that axial magnetic field magnetic flux switching fault-tolerant motor has single-phase earthing fault；When above two kinds of situations Without when, judge motor status normally, wherein ε be one close to zero number.

3. the axial magnetic field magnetic flux minimum based on copper loss according to claim 1 and 2 switches fault-tolerant motor faults-tolerant control side Method, it is characterised in that determine fault-tolerant winding current reference value as follows in the step (7)

1) by experiment or motor finite element simulation data, phase permanent magnet flux linkage amplitude is with electric current i during obtaining motor increasing magnetic_f Change function ψ_pm(i_f)；

2) by motor fault-tolerant winding resistance R_f, armature winding current effective value I_s, phase winding resistance R_s, and the step 1) The change function ψ for obtaining_pm(i_f) calculate motor fault-tolerant run when copper loss P_copper(i_f)；

3) by the copper loss P_copper(i_f) to fault-tolerant electric current i_fDerivation, makes the null fault-tolerant current value of derivative expressions, as Fault-tolerant winding current reference value