Fault-Tolerant Control of Non-Phase-Shifted Dual Three-Phase PMSM Joint Motor for Open Phase Fault with Minimized Copper Loss and Reduced Torque Ripple

Xian Luo, Guangyu Pu, Wenhao Han, Huaqi Li and Hanlin Zhan ()
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Xian Luo: School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen 518055, China
Guangyu Pu: School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen 518055, China
Wenhao Han: School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen 518055, China
Huaqi Li: School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen 518055, China
Hanlin Zhan: School of Robotics and Advanced Manufacture, Harbin Institute of Technology, Shenzhen 518055, China

Energies, 2025, vol. 18, issue 15, 1-21

Abstract: Dual three-phase PMSMs (DTP-PMSMs) have attracted increasing attention in the field of robotics industry for their higher power density and enhanced fault-tolerant ability. The non-phase-shifted DTP-PMSM (NPSDTP-PMSM), which shows naturally prevailed performance on zero-sequence current (ZSC) suppression, necessitates the investigation on the control method with improved fault-tolerant performance. In this paper, a novel fault-tolerant control (FTC) method for NPSDTP-PMSM is proposed, which concurrently simultaneously reduces copper loss and suppresses torque ripple under single and dual open phase fault. Firstly, the mathematical model of NPSDTP-PMSM is established, where the ZSC self-suppressing mechanism is revealed. Based on which, investigations on open phase fault and the copper loss characteristics for NPSDTP-PMSM are conducted. Subsequently, a novel fault-tolerant control method is proposed for NPSDTP-PMSM, where the torque ripple is reduced by mutual cancellation of harmonic torques from two winding sets and minimized copper loss is achieved based on the convex characteristic of copper loss. Experimental validation on an integrated robotic joint motor platform confirms the effectiveness of the proposed method.

Keywords: non-phase-shifted dual three-phase PMSM; fault-tolerant control; open phase fault; minimized copper loss; torque ripple reduction; joint motor (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2025
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