Cooperative Control Strategy of Triple Redundant Motor Based on Virtual Impedance

The motor for electromechanical actuator has high reliability requirements. This paper studies a triple redundancy permanent magnet synchronous motor with winding redundancy structure. However, the triple redundancy system has the problem of asymmetric channel parameters, which leads to unbalanced winding phase current and affects the reliability of the triple redundancy permanent magnet synchronous motor. In this paper, the possible consequences of parameter asymmetry are analyzed. Aiming at the problem of stator current imbalance caused by parameter asymmetry, a cooperative control strategy based on virtual impedance is proposed. The control strategy compensates the parameters through the virtual impedance adjustment module, which can reduce or even eliminate the parameter asymmetry and realize the balanced control of the winding phase current. At the same time, a Simulink model is built to verify the effectiveness of the control algorithm. Finally, the hardware drive platform and software control algorithm based on YXSpace 2000 semi-physical simulator are built for experimental verification.