Dead-beat predictive current control method and system for direct-current bias vernier reluctance motor

Abstract

The invention is suitable for the field of motor driving and control, and provides a dead-beat predictive current control method and system for a direct-current bias vernier reluctance motor, and the method comprises the steps: obtaining the operation data of a target motor, and carrying out the preprocessing of the obtained operation data; inputting the preprocessed operation data into an extended state observer with coupling compensation, and outputting extended state prediction parameters; inputting the extended state prediction parameter into a dead-beat prediction current control model to obtain a dq0-axis regulation voltage; carrying out coordinate transformation on the adjusting voltage of the dq0 axis, and carrying out space vector pulse width modulation to obtain a switching sequence of dual-inverter SVPWM (Space Vector Pulse Width Modulation); acting the switching sequence on a phase winding of the target motor; according to the method, disturbance caused by voltage coupling is considered in the process of predicting current and disturbance; this allows compensation of voltage coupling interference, thereby reducing the influence of interference caused by parameter changes and coupling voltage, and enhancing dynamic response capability.

Description

Technical Field

[0001] The present invention belongs to the field of motor drive and control, and provides a deadbeat predictive current control method and system for a DC-biased vernier reluctance motor. Background Art

[0002] Open-winding motor systems, simply referred to as open-winding motors, have received increasing attention and research in the academic and industrial fields due to their advantages such as flexible control, high voltage utilization rate, high fault tolerance adaptability, and low requirements for the capacity of power devices. The DC-biased vernier reluctance motor is a new type of motor system adopting an open-winding structure, and its armature current is the superposition of a DC-biased component and a sinusoidal component. The motor structure can be referred to Figure 1 .. This motor system has excellent speed regulation performance, high control accuracy, simple manufacturing process, convenient heat dissipation, and high reliability, and has broad application prospects in occasions with harsh environments such as aviation starting / generators, mining machinery, and automotive turbocharged motors, and with high requirements for speed regulation performance and reliability.

[0003] The aviation starting / generator is the core component of the electrical system of a multi-electric aircraft. The internal starter / generator has a harsh position and high temperature, which poses higher requirements for the reliability of the machine. At the same time, how to control the starting and generating processes of the starter / generator to achieve high real-time and stable control has also received extensive attention in recent years.

[0004] At the level of optimizing the motor control strategy, PI regulators have been used for the dq0-axis current control of DC-biased-VRM (DC-biased voltage regulation module), but the dynamic response is slow. The deadbeat predictive current control (DPCC) strategy performs well in the permanent magnet synchronous motor drive system and has good dynamic performance. However, when applied to DC-biased-VRM, its performance is restricted by the accuracy of motor parameters. In actual operation, motor parameters are prone to change, resulting in a significant reduction in the control effect of DPCC. Therefore, the academic community has carried out research. Some methods expand the prediction range, introduce control strategies, or use observers to improve the performance of DPCC. However, the existing DPCC strategies for open-winding permanent magnet synchronous motors do not consider the zero-sequence current regulation and current coupling characteristics of DC-biased-VRM, and are difficult to be directly transplanted and applied.

[0005] Currently, the DPCC strategy based on the conventional ESO (Extended State Observer) generally discretizes the motor voltage equation, predicts the current in the next period based on the dq0-axis current sampled in the current control period, and combines the motor parameters. To enhance the disturbance rejection ability of DPCC and weaken the influence of parameter changes, an Extended State Observer (ESO) is designed to detect and compensate for the disturbances caused by parameter variations. Specifically, the ESO is designed according to the discretization formula and the motor equation, and after obtaining the predicted current and the disturbance, the DPCC strategy is optimized, so that the regulated voltage can accurately adjust the current to track the reference value, achieve the control objective, and have the ability to regulate the zero-sequence current.

[0006] However, during the actual operation of the DC-biased-VRM, the parameters change significantly. For example, the static and AC inductance components fluctuate with the effective value of the current, and the phase resistance changes with the ambient temperature. The parameter variations cause an increase in the predicted current error, inaccurate regulated voltage, deterioration of the control effect, and even system instability, seriously weakening the accurate control ability of the DPCC strategy for the motor current. Moreover, the motor dq0-axis voltage and current are interrelated. The traditional DPCC strategy derives the predicted current and calculates the regulated voltage based on the instantaneous current, ignoring the inter-axis coupling phenomenon. This defect causes the predicted current and the regulated voltage to be dynamically disturbed, and the control performance is further reduced when the parameters change, the phase current fluctuates violently, the system loss increases, and the service life of the power electronic devices is shortened, affecting the stability and efficiency of the motor operation; it is necessary to improve. Summary of the Invention

[0007] The purpose of the present invention is to provide a deadbeat predictive current control method and system for a DC-biased Vernier reluctance motor, to realize the real-time regulation of the zero-sequence voltage, ensure the regulation ability of the zero-sequence current, and improve the dynamic response and anti-interference ability of the control system; it provides an effective solution for improving the efficiency of the DC-biased Vernier reluctance motor (DC-biased-VRM) drive system.

[0008] The present invention is implemented as follows. A deadbeat predictive current control method for a DC-biased Vernier reluctance motor, the method includes the following steps:

[0009] Obtain the operation data of the target motor, and preprocess the obtained operation data; wherein, the operation data includes the given electrical angular velocity of the motor The current electrical speed θ of the rotor e (k), the currents i abc (k) and voltages u abc (k) of the three-phase windings;

[0010] Input the preprocessed operation data into the extended state observer with coupling compensation, and output the extended state prediction parameters; the extended state prediction parameters include the predicted current in the next control period and the disturbance voltage considering the coupling of the dq0 axes and parameter changes;

[0011] Input the extended state prediction parameter into the deadbeat predictive current control model to obtain the regulating voltages of the dq0 axes.

[0012] Perform coordinate transformation on the regulating voltages of the dq0 axes and conduct space vector pulse width modulation to obtain the switching sequence of the dual-inverter SVPWM modulation.

[0013] Apply the switching sequence to the phase windings of the target motor to control the currents of the A-phase, B-phase, and C-phase of the motor winding, so as to achieve deadbeat predictive current control.

[0014] A deadbeat predictive current control system for a DC-biased vernier reluctance motor provided by the present invention, the system includes:

[0015] A data acquisition module, configured to acquire the operation data of the target motor and preprocess the acquired operation data; wherein, the operation data includes the given electrical angular velocity of the motor The current electrical speed θ of the rotor e (k), the currents i abc (k) and voltages u abc (k) of the three-phase windings;

[0016] A model operation module, configured to input the preprocessed operation data into an extended state observer with coupling compensation and output extended state prediction parameters; the extended state prediction parameters include the predicted current of the next control cycle and the disturbance voltage considering the coupling and parameter variations of the dq0 axes;

[0017] An algorithm execution module, configured to input the extended state prediction parameter into the deadbeat predictive current control model to obtain the regulating voltages of the dq0 axes;

[0018] A signal transformation and modulation module, configured to perform coordinate transformation on the regulating voltages of the dq0 axes and conduct space vector pulse width modulation to obtain the switching sequence of the dual-inverter SVPWM modulation;

[0019] A pulse signal giving module, configured to apply the switching sequence to the phase windings of the target motor to control the currents of the A-phase, B-phase, and C-phase of the motor winding, so as to achieve deadbeat predictive current control.

[0020] A deadbeat predictive current control method for a DC-biased vernier reluctance motor provided by the present invention introduces an improved extended state observer with coupling compensation and a deadbeat predictive current control model. During the prediction of current and disturbances, the disturbances caused by voltage coupling are considered; this allows for compensating the voltage coupling interference, thereby reducing the influence of the disturbances caused by parameter variations and coupling voltages, and further enhancing the dynamic response ability. Compared with the traditional ESO-based DPCC that does not consider the coupling phenomenon, this control method has a faster current regulation ability; in addition, the current regulation process is smoother, with fewer disturbances, improving the current utilization rate and reducing the impact of current surges on power electronic devices. Description of the Drawings

[0021] Figure 1 Schematic diagram of the stator and rotor structures of a DC-biased vernier reluctance motor provided by an embodiment of the present invention;

[0022] Figure 2 Winding connection diagram in an open-winding motor system in one embodiment;

[0023] Figure 3 Topological structure of an open-winding motor system in one embodiment;

[0024] Figure 4 Control block diagram of a deadbeat predictive current control method for a DC-biased vernier reluctance motor provided by an embodiment of the present invention;

[0025] Figure 5 Flow block diagram of a deadbeat predictive current control method for a DC-biased vernier reluctance motor provided by an embodiment of the present invention;

[0026] Figure 6 Structural block diagram of a deadbeat predictive current control system for a DC-biased vernier reluctance motor provided by an embodiment of the present invention. Detailed Embodiments

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] Explanation of Terms:

[0029] PWM: Pulse Width Modulation, Pulse Width Modulation;

[0030] SVPWM: Space Vector Pulse Width Modulation, Space Vector Pulse Width Modulation;

[0031] ESO: Extended State Observer, an extended state observer;

[0032] DPCC: Deadbeat Predictive Current Control, deadbeat predictive current control.

[0033] As Figures 1 to 5 shown, in one embodiment, a deadbeat predictive current control method for a DC-biased vernier reluctance motor is proposed, which can be used for the structure of a DC-biased vernier reluctance motor as Figure 1 shown; the control principle of this method can be referred to Figure 4 ; Figure 5 FIG. is a flowchart of a deadbeat predictive current control method for a DC-biased vernier reluctance motor, which specifically may include the following steps S101 to step S105;

[0034] S101: Obtain the operating data of the target motor and preprocess the obtained operating data; wherein, the operating data includes the given electrical angular velocity of the motor the current electrical speed θ of the rotor e (k), the currents i abc (k) and voltages u abc (k) of the three-phase windings;

[0035] In this step, the target motor is specifically a DC-biased vernier reluctance motor, which is powered and driven by an open-winding inverter; the open-winding inverter includes two inverters, namely inverter 1 and inverter 2, which are connected to the same DC bus, and reference can be made to Figure 3 , and the voltage vector of the open-winding inverter is synthesized by the output voltage vectors of the two inverters (inverter 1 and inverter 2).

[0036] Exemplarily, obtaining the operating data of the target motor and preprocessing the obtained operating data specifically includes:

[0037] Obtain the given electrical angular velocity of the target motor the current electrical angle θ of the rotor e (k);

[0038] Determine the current electrical speed w e (k) of the rotor according to the current electrical angle θ of the rotor e (k), and perform a multiplication operation with the given electrical angular velocity of the motor and use the result as the input of the PI regulator. The PI regulator outputs the dq0-axis current given value

[0039] Obtain the currents i abc (k) and voltages u abc (k) of the three-phase windings of the target motor;

[0040] The currents and voltages of the three-phase windings are subjected to coordinate transformation to obtain the dq0-axis current feedback values i dq0 (k), and the dq0-axis voltage feedback values u dq0 (k).

[0041] S102: Input the preprocessed operating data into an extended state observer with coupling compensation, and output the extended state prediction parameters; the extended state prediction parameters include the predicted current for the next control period and the disturbance voltage considering the coupling and parameter variations in the dq0-axis;

[0042] Among them, the extended state observer with coupling compensation is configured as:

[0043]

[0044] Among them, k represents time, and h x (k)(x = d, q, 0) represents the disturbance voltage with coupling compensation and parameter variations at time k, and h x (k + 1)(x = d, q, 0) represents the disturbance voltage with coupling compensation and parameter variations at the predicted time (k + 1); respectively represent the predicted dq0-axis currents, i d (k), i q (k), i0(k) are the components of i dq0 (k); u d (k), u q (k), u0(k) are the components of u dq0 (k); T S is the control period, R is the phase resistance, and D is the differential operator;

[0045]

[0046] Among them, L0 represents the zero-sequence inductance, and L1 represents the AC inductance; c1d, c2d, c1q, c2q, c10, and c20 are the parameters of the extended state observer with coupling compensation.

[0047] S103: Input the extended state prediction parameters into a deadbeat predictive current control model to obtain the regulating voltages for the dq0-axis, that is, u * d (k), u * q (k) and u * 0(k);

[0048] Among them, the deadbeat predictive current control model is configured as;

[0049]

[0050] where, i dref , i qref , i 0ref represent the reference values of the d-axis, q-axis, and 0-axis currents; u * x (k + 1)(x = d, q, 0) represents the regulated voltage in the next control period, that is, u * d (k + 1), u * q (k + 1), and u * 0(k + 1).

[0051] S104: Perform coordinate transformation on the regulated voltage of the dq0 axis and perform space vector pulse width modulation to obtain the switching sequence of the dual-inverter SVPWM modulation;

[0052] S105: Apply the switching sequence to the phase windings of the target motor to control the currents of the A-phase, B-phase, and C-phase of the motor winding, so as to achieve deadbeat predictive current control;

[0053] In step S102, for the target motor, since the DC-biased vernier reluctance motor allows zero-sequence current to flow through; the current in the winding can be expressed as:

[0054]

[0055] In the target motor, the inductance is mainly composed of a DC component and a primary AC component, and the amplitude changes of other components are too small and even negligible, so they can be ignored. Therefore, the phase inductance is expressed as Equation (2).

[0056] Combining Equation (1) and Equation (2), the voltage equation can be expressed as Equation (3).

[0057]

[0058] where, L s represents the stator inductance of the motor, L1 represents the AC inductance; L0 represents the zero-sequence inductance; R S represents the stator resistance; θ e represents the electrical angle of the motor; ω e represents the electrical angular velocity. L a , L b , L c represent the three-phase inductances of the motor. The abc-axis coordinate system is a three-phase stationary coordinate system, and the a, b, and c axes are 120° electrical angles apart from each other, representing the three phases of the motor (usually the A-phase, B-phase, and C-phase). Electrical quantities such as the voltage and current of each phase winding can be represented on their respective axes. For example, the currents of the three-phase stator windings of the motor can be respectively represented as i a , i b, i c ; The voltage can be expressed as u a , u b , u c . The dq0-axis coordinate system is a three-phase rotating coordinate system; the d, q, and 0 axes are 120° electrical angles apart from each other; the currents in the windings can be respectively expressed as i d , i q , i0; the voltage can be expressed as u d , u q , u0.

[0059] The alternating current generates the stator flux, while the direct current generates the virtual rotor flux. The electromagnetic torque is generated through the interaction between the stator and rotor fluxes to drive the motor to operate; the average electromagnetic torque in the DC-biased reluctance motor is proportional to the product of i q and i0; if the sampling time is too short, Equation (3) can be discretized and rewritten as Equation (4);

[0060]

[0061] In Equation (4), i d (k), i q (k) and i0(k) respectively represent the sampled currents of the dq0 axes in the ongoing control period, and then the currents of the dq0 axes in the next control period are predicted based on the motor operating parameters, that is, Since the control period is very short, the electrical angular velocity ω e between two consecutive periods can be considered to remain constant.

[0062] Exemplarily, in the step of predicting the currents of the dq0 axes in the next control period based on the motor operating parameters, the predicted value in the current control period is used as the reference current for the subsequent control period; ensure that the feedback current of the motor follows its corresponding reference value; based on this, the regulated voltage for the next control period can be calculated according to the voltage in the current control period; this regulated voltage is implemented on the dual-winding inverter at the beginning of each control period, so as to be able to precisely regulate the current to reach the desired value at the end of this period. The regulated voltage can be obtained according to Equation (5);

[0063]

[0064] where, i dref , i qref , i 0ref represent the reference values of the d-axis, q-axis, and 0-axis currents; u * x (k + 1) (x = d, q, 0) represents the regulated voltage for the next control period.

[0065] In this embodiment, the extended state observer with coupling compensation is obtained by improving an extended state observer;

[0066] The discretization formula of the extended state observer is as follows:

[0067]

[0068] where f d (k), f q (k) and f0(k) represent the dq0-axis current disturbances respectively; while f d (k + 1), f q (k + 1) and f0(k + 1) represent the predicted dq0-axis current disturbances respectively; T S represents the control period; c1, c2 are the parameters of the extended state observer, and e rr (k) represents the current error. The set extended state observer can help the motor servo control minimize the influence of parameter changes and improve the robustness of the deadbeat predictive current control (DPCC) against disturbances.

[0069] According to Equations (4) and (6), the extended state observer can be expressed as follows:

[0070]

[0071] In this way, the predicted current and current disturbance can be obtained through the extended state observer.

[0072] Equation (5) can be rewritten as Equation (9);

[0073]

[0074] In the practical application of this embodiment, the environmental temperature fluctuation is inevitable, resulting in the corresponding change of the phase resistance of the motor with the change of temperature; in addition, both the static inductance component and the AC inductance component show changes in response to the RMS current (I rms ).

[0075] where the changes of the static inductance component and the AC inductance component are represented by ΔL0 and ΔL1, and the change of the phase resistance is represented by ΔR. Therefore, the predicted current error caused by these motor parameter changes can be expressed as Equation (10), and by combining Equation (4), Equation (11) is obtained.

[0076] As shown in Equation (11), the predicted current in the presence of parameter changes can be derived. The predicted current disturbance caused by the parameter change at time k is represented as i fd (k), i fq (k) and i f0(k). Obviously, the change of motor parameters will damage the accuracy of current prediction, lead to the error of regulated voltage, and ultimately affect the control effect and potentially cause the instability of the motor system.

[0077]

[0078]

[0079] In addition, it can be clearly seen from Equation (3) that the voltage on the d0 axis is related to the current on the d0 axis, which means that the accuracy of current prediction on the d0 axis directly affects the accuracy of the regulated voltage on the dq0 axis, thus affecting the control efficiency. However, as shown in Equations (4) and (7), the traditional DPCC strategy uses the instantaneous current instead of its differential value to derive the predicted current. Similarly, in Equations (5) and (9), the predicted current is used instead of the differential value of the predicted current. This direct substitution method ignores the dq0 axis coupling phenomenon, inevitably leading to dynamic disturbances of the predicted current and regulated voltage, and ultimately affecting the dynamic performance of the control strategy. In addition, the change of motor parameters further reduces the control performance, and this coupling phenomenon exacerbates the impact on the control performance. Therefore, in this embodiment, the extended state observer with coupling compensation is an extended state observer that takes into account the voltage coupling on the dq0 axis. The coupling situation and parameter changes on the dq0 axis are extended as disturbance quantities and observed; finally, disturbance compensation is achieved, improving the dynamic performance of the control method.

[0080] Exemplarily, Equation (3) is rewritten as follows:

[0081]

[0082] Where,

[0083] Furthermore, Equation (12) is rewritten as Equation (13);

[0084]

[0085] Where, E is the identity matrix, h d 、h q and h0 respectively represent the disturbance voltages considering the coupling and parameter changes on the dq0 axis.

[0086] According to Equation (13), the extended state observer with coupling compensation can be expressed as Equations (14)-(15).

[0087] The regulated voltage can be expressed as Equation (16).

[0088]

[0089] The above extended state observer with coupling compensation realizes the compensation of control delay by predicting the instantaneous current and disturbance voltage. Meanwhile, it reduces the influence of voltage coupling and parameter perturbation, ensuring the fast response and stability of motor control.

[0090] In step S104, the regulated voltages on the dq0 axes are subjected to coordinate transformation and space vector pulse width modulation to obtain the switching sequence of dual-inverter SVPWM modulation.

[0091] The coordinate transformation is achieved through a rotating stationary coordinate converter (dq / αβ), which is used to convert the d-axis regulated voltage u d * (k) and the q-axis regulated voltage u q * (k) into the corresponding coordinate values u ɑ * and u β * in the two-phase stationary coordinate system. Specifically, it is divided into coordinate values (u α1 *(k), u β1 *(k)) and (u α2 *(k), u β2 *(k)), which are sent to two space vector pulse width modulators (i.e., SVPWM1 and SVPWM2 in Figure 4 ); space vector pulse width modulation is performed to obtain the switching sequence of dual-inverter SVPWM modulation (i.e., PWM 1-6, PWM 7-12).

[0092] After that, the switching sequence is applied to the phase windings of the target motor to control the currents of phases A, B, and C of the motor winding, so as to achieve deadbeat predictive current control.

[0093] Exemplarily, the sector where the coordinate value of the given voltage vector u αβ * in the two-phase stationary coordinate system is located is judged, the distribution relationship between the independent output voltage vectors of the two inverters is determined, and based on the distribution result, the two adjacent effective working vectors and the corresponding action times of the two inverters are obtained, and then dual-inverter PWM modulation is performed according to the alternative clamping PWM strategy;

[0094] Among them, the sector where the coordinate value of the voltage vector u αβ * in the two-phase stationary coordinate system is located can be judged to determine the distribution relationship between the independent output voltage vectors of the two inverters; specifically, it includes:

[0095] The coordinate value of the voltage vector u αβ * in the two-phase stationary coordinate system is (u α *, u β * ), through (u α * , u β * ) to determine the sector where u is located, and further determine the distribution relationship between the independent output voltage vectors of the two inverters. The independent output voltage vectors of the two inverters are u αβ * and u αβ1 * ; αβ2 * ;

[0096] Through (u α1 * , u β1 * ) and (u α2 * , u β2 * ), the adjacent two working vectors and corresponding action times of the two inverters can be obtained;

[0097] Among them, (u α1 * , u β1 * ) and (u α2 * , u β2 * ) are determined by u αβ1 * , u αβ2 * .

[0098] A deadbeat predictive current control method for a DC-biased vernier reluctance motor provided in this embodiment considers the disturbance caused by voltage coupling during the process of predicting current and disturbance; it allows compensation for voltage coupling interference, thereby reducing the influence of interference caused by parameter changes and coupling voltage, and further enhancing the dynamic response ability. Compared with the traditional ESO-based DPCC that does not consider the coupling phenomenon, the control method of this embodiment has faster current regulation ability; in addition, the regulation process is smoother, with less interference, and the current utilization rate is improved.

[0099] As Figure 6 shown, in another embodiment, a deadbeat predictive current control system 100 for a DC-biased vernier reluctance motor includes:

[0100] A data acquisition module 110, configured to acquire the operating data of the target motor and preprocess the acquired operating data; wherein, the operating data includes the given electrical angular velocity of the motor the current electrical speed θ of the rotor e (k), the currents i of the three-phase windingsabc (k) and voltage u abc (k);

[0101] The model operation module 120 is configured to input the pre - processed operation data into an extended state observer with coupling compensation and output extended state prediction parameters; the extended state prediction parameters include the predicted current in the next control period and the disturbance voltage considering the coupling and parameter variations of the dq0 axes;

[0102] The algorithm execution module 130 is configured to input the extended state prediction parameters into a dead - beat predictive current control model to obtain the regulating voltages of the dq0 axes;

[0103] The signal transformation and modulation module 140 is configured to perform coordinate transformation on the regulating voltages of the dq0 axes and perform space vector pulse width modulation to obtain a switching sequence for dual - inverter SVPWM modulation;

[0104] The pulse signal giving module 150 is configured to apply the switching sequence to the phase windings of the target motor to control the currents of the A - phase, B - phase, and C - phase of the motor winding, so as to achieve dead - beat predictive current control.

[0105] The technical features of the above - described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above - described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0106] The above - described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it cannot be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

[0107] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A deadbeat predictive current control method for a DC-biased vernier reluctance motor, characterized in that The method includes: Obtain the operation data of the target motor and preprocess the obtained operation data; among them, the operation data includes the given electrical angular velocity of the motor The current electrical speed θ of the rotor e (θ), the current i of the three-phase winding abc (k) and the voltage u abc (k); Inputting the preprocessed operation data into an extended state observer with coupling compensation to output extended state prediction parameters; the extended state prediction parameters include the predicted current in the next control period and the disturbance voltage considering the coupling and parameter variations of the dq0 axes; Inputting the extended state prediction parameters into a deadbeat predictive current control model to obtain the regulating voltages of the dq0 axes; Performing coordinate transformation on the regulating voltages of the dq0 axes and performing space vector pulse width modulation to obtain the switching sequence of dual-inverter SVPWM modulation; Applying the switching sequence to the phase windings of the target motor to control the currents of phases A, B, and C of the motor winding so as to achieve deadbeat predictive current control.

2. The zero-beat predictive current control method for a DC-biased vernier magnetoresistive motor according to claim 1, wherein The step of acquiring the operation data of the target motor and preprocessing the acquired operation data specifically includes: Obtain the given electrical angular velocity of the target motor The current electrical angle θ of the rotor e (k); According to the current electrical angle θ of the rotor e (k) Determine the current electrical angular velocity w of the rotor e (k), and after performing a multiplication operation with the given electrical angular velocity of the motor it is used as the input of the PI regulator, and the PI regulator outputs the given values of the dq0-axis currents Obtain the current i abd of the three-phase windings of the target motor abc (k) and the voltage u (k); Perform coordinate transformation on the currents and voltages of the three-phase windings to obtain the dq0-axis current feedback value i dq0 (k) and the dq0-axis voltage feedback value u dq0 (k).

3. The deadbeat predictive current control method for a DC-biased vernier magnetoresistive motor according to claim 2, wherein In the step of inputting the preprocessed operation data into an extended state observer with coupling compensation to output extended state prediction parameters, the extended state observer with coupling compensation is configured as: where k represents time, h x The disturbance voltage with coupling compensation and parameter variation at time k is represented by h(k)(x = d, q, 0), h x The disturbance voltage with coupling compensation and parameter variation at the predicted time (k + 1) is represented by h(k + 1)(x = d, q, 0); respectively represent the predicted dq0-axis currents, i d (k), i q (k), and i0(k) are the components of i dq0 (k); u d (k), u q (k), and u0(k) are the components of u dq0 (k); T S is the control period, R is the phase resistance, and D is the differential operator; where L0 represents the zero-sequence inductance, L1 represents the AC inductance; c1d, c2d, c1q, c2q, c10, and c20 are the parameters of the extended state observer with coupling compensation.

4. The zero - beat predictive current control method for a DC - biased vernier reluctance motor according to claim 3, wherein The deadbeat predictive current control model is configured as: wherein, i dref , i qref , i 0ref represent the reference values of the d-axis, q-axis, and 0-axis currents; u * x (k + 1)(x = d, q, 0) represents the regulated voltage for the next control period.

5. A deadbeat predictive current control system for a DC-biased vernier reluctance motor, which is used for the deadbeat predictive current control method of the DC-biased vernier reluctance motor as described in any one of claims 1-4, characterized in that, The deadbeat predictive current control system of the DC-biased vernier reluctance motor includes: A data acquisition module, configured to acquire the operation data of a target motor and preprocess the acquired operation data; wherein, the operation data includes the given electrical angular velocity of the motor the current electrical speed θ of the rotor e (k), the current i of the three-phase winding abc (k) and the voltage u abc (k); A model operation module, configured to input the preprocessed operation data into an extended state observer with coupling compensation to output extended state prediction parameters; the extended state prediction parameters include the predicted current in the next control period and the disturbance voltage considering the coupling and parameter variations of the dq0 axes; An algorithm execution module, configured to input the extended state prediction parameters into a deadbeat predictive current control model to obtain the regulating voltages of the dq0 axes; A signal transformation and modulation module, configured to perform coordinate transformation on the regulating voltages of the dq0 axes and perform space vector pulse width modulation to obtain the switching sequence of dual-inverter SVPWM modulation; A pulse signal given module, configured to apply the switching sequence to the phase windings of the target motor to control the currents of phases A, B, and C of the motor winding so as to achieve deadbeat predictive current control.

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