Patent ID: 11888419
Assignee: JIANGSU UNIVERSITY
Field: Electrical machinery, apparatus, energy (Electrical engineering)
Classification: CPC H  Y | IPC H

Claim 2:
3. The unified open-circuit fault-tolerant control method according to claim 1, wherein in step 3), constructing the torque controller based on the difference between the predetermined speed and the detected speed to obtain the predetermined torque Te* is implemented as follows, wherein
a torque-speed relationship of the five-phase permanent magnet fault-tolerant motor is defined as follows:, d
    ⁢
    ω
   
   
    d
    ⁢
    t
   
  
  =
  
   
    
     -
     
      B
      J
     
    
    ⁢
    ω
   
   -
   
    
     T
     L
    
    J
   
   +
   
    
     T
     e
    
    J
   
  
 

wherein, ω is a mechanical angular velocity, B is a friction coefficient, J is a moment of inertia, and TL is a load torque;
an electromagnetic torque of the five-phase permanent magnet fault-tolerant motor system in a fault mode is expressed as follows:

Te=Tb+ΔTe 

wherein, Tb denotes an electromagnetic torque without a ripple component, ΔTe denotes an electromagnetic torque with a ripple component caused by the fault; Tb is designed to ensure a performance of the five-phase motor system, and ΔTe is considered as an uncertain factor of the system; and a torque control strategy is used to eliminate the disturbing ΔTe to suppress the torque ripple of the five-phase permanent magnet fault-tolerant motor after the fault;
wherein ΔTe=α1Tb, α1 is unknown but bounded with a maximum value of α1m, and α1 satisfies |α1|≤α1m<1, the torque-speed relationship of the five-phase permanent magnet fault-tolerant motor is rewritten as:, d
    ⁢
    ω
   
   
    d
    ⁢
    t
   
  
  =
  
   
    
     -
     
      
       B
       m
      
      
       J
       m
      
     
    
    ⁢
    ω
   
   +
   
    
     (
     
      
       
        B
        m
       
       
        J
        m
       
      
      -
      
       B
       J
      
     
     )
    
    ⁢
    ω
   
   -
   
    
     T
     L
    
    J
   
   +
   
    
     1
     
      J
      m
     
    
    ⁢
    
     (
     
      1
      -
      
       α
       2
      
     
     )
    
    ⁢
    
     (
     
      1
      +
      
       α
       1
      
     
     )
    
    ⁢
    
     T
     b
    
   
  
 

wherein, Bm and Jm are respectively a maximum value of B and a minimum value of J, both of which are greater than zero, and are obtained based on an extreme environment of the motor system; α2=1−(Jm/J), wherein α2 falls within a range of 0≤α2<1; and e=ω−ω*, with ω* being a predetermined angular velocity of a rotor, wherein:

ω=e+ω* 

a relationship is derived as follows:, d
    ⁢
    e
   
   
    d
    ⁢
    t
   
  
  =
  
   
    
     -
     
      
       B
       m
      
      
       J
       m
      
     
    
    ⁢
    e
   
   +
   
    
     (
     
      
       
        B
        m
       
       
        J
        m
       
      
      -
      
       B
       J
      
     
     )
    
    ⁢
    e
   
   -
   
    
     B
     J
    
    ⁢
    
     ω
     *
    
   
   -
   
    
     T
     L
    
    J
   
   +
   
    
     1
     
      J
      m
     
    
    ⁢
    
     (
     
      1
      -
      
       α
       2
      
     
     )
    
    ⁢
    
     (
     
      1
      +
      
       α
       1
      
     
     )
    
    ⁢
    
     T
     b
    
   
  
 

based on a strong robust control law, a torque controller is designed as follows:, T
   b
  
  =
  
   -
   
    
     λ
     ⁢
     τ
    
    
     
      
       ❘
       "\[LeftBracketingBar]"
      
      λ
      
       ❘
       "\[RightBracketingBar]"
      
     
     +
     ε
    
   
  
 

wherein,, λ
   =
   
    -
    
     
      
       
        B
        m
       
       ⁢
       
        
         ❘
         "\[LeftBracketingBar]"
        
        e
        
         ❘
         "\[RightBracketingBar]"
        
       
      
      +
      
       
        B
        m
       
       ⁢
       
        
         ❘
         "\[LeftBracketingBar]"
        
        
         ω
         *
        
        
         ❘
         "\[RightBracketingBar]"
        
       
      
      +
      
       T
       m
      
     
     
      
       (
       
        1
        -
        
         α
         
          1
          ⁢
          m
         
        
       
       )
      
      ⁢
      
       (
       
        1
        -
        
         α
         
          2
          ⁢
          m
         
        
       
       )
      
     
    
   
  
  ;
 

 
  
   τ
   =
   
    
     e
     
      J
      m
     
    
    ⁢
    λ
   
  
  ;
 

 Tm is a maximum value of TL, which is greater than zero; |e| is an absolute value of a difference between the mechanical angular velocity and the predetermined angular velocity of the rotor; |λ| is an absolute value of λ; and ε is a constant greater than zero.