A torque balancing control method, system and storage device for a circular braiding machine

Abstract

The present invention relates to the technical field of braiding machines, and in particular to a method, system and storage device for torque balancing control of a circular braiding machine. The method for torque balancing control of a circular braiding machine comprises the following steps: the main motor adopts a position control mode, and the position loop, speed loop and current loop of the main motor are controlled by three closed loops; the slave motor adopts a torque control mode; the output of the speed loop of the main motor is used as the current set value of the current loop of the slave motor. Through the above method, torque balancing control can be achieved, the speed of each motor is synchronized, the braiding machine is guaranteed to run smoothly, and the fabric quality and production efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of braiding machines, and in particular to a torque balancing control method, system and storage device for a circular braiding machine. Background Art

[0002] The circular knitting machine has a large number of gears, dials and yarn carriers, and requires a large driving power. It needs multiple servo motors to drive synchronously to meet its uninterrupted motion needs. The motors on the knitting ring are connected through gear shafts to achieve the purpose of forced speed synchronization. However, due to the existence of problems such as different meshing stiffness, manufacturing errors and tooth side clearance, the gear transmission system is prone to different load torques on each motor, causing the knitting machine to jam, which seriously affects the knitting quality and production efficiency. Summary of the invention

[0003] Therefore, it is necessary to provide a torque balancing control method for a circular braiding machine to solve the technical problem that the load torques of the motors of the circular braiding machine are different, which causes the braiding machine to jam during operation and seriously affects the quality of fabric weaving. The specific technical solution is as follows:

[0004] A torque balancing control method for a circular braiding machine comprises the following steps:

[0005] The main motor adopts a position control mode, and the position loop, speed loop and current loop of the main motor are controlled in a three-loop closed manner;

[0006] The slave motor adopts torque control mode;

[0007] The output of the speed loop of the master motor is used as the current set value of the current loop of the slave motor.

[0008] Furthermore, the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts finite control set model predictive current control, and the current loop of the slave motor adopts finite control set model predictive current control.

[0009] Further, the main motor includes: a surface-mounted permanent magnet synchronous motor, and the slave motor includes: a surface-mounted permanent magnet synchronous motor;

[0010] The stator current state equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0011]

[0012]

[0013] Where: L S is the stator inductance; R S is the stator resistance; ud 、u q are the dq axis voltage components respectively; i d , i q are the dq axis current components respectively; f is the permanent magnet flux; ω e is the rotor electrical angular velocity;

[0014] The forward Euler formula is used to discretize equations (1) and (2) to obtain the dq axis current prediction formula at the next sampling time:

[0015]

[0016]

[0017] Where: k represents the sampling number at the current moment; k+1 represents the sampling number at the next moment; T s is the sampling period; kT s The dq axis current value at the moment; are (k+1)T s The predicted value of dq axis current at time; kT s The dq axis voltage components at time ; kT s The rotor electrical angular velocity at the moment;

[0018] The electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0019]

[0020] Where: k τ is the torque coefficient;

[0021]

[0022] Where: p is the pole pair number;

[0023] The motion equation of the permanent magnet synchronous motor in the dq axis coordinate system is:

[0024]

[0025] In order to solve the above technical problems, a torque balancing control system for a circular braiding machine is also provided, and the specific technical solution is as follows:

[0026] A torque balancing control system for a circular braiding machine, comprising: a main motor and a slave motor;

[0027] The main motor adopts a position control mode, and the position loop, speed loop and current loop of the main motor are controlled in a three-loop closed manner;

[0028] The slave motor adopts a torque control mode;

[0029] The output of the speed loop of the master motor is used as the current set value of the current loop of the slave motor.

[0030] Furthermore, the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts finite control set model predictive current control, and the current loop of the slave motor adopts finite control set model predictive current control.

[0031] Further, the main motor includes: a surface-mounted permanent magnet synchronous motor, and the slave motor includes: a surface-mounted permanent magnet synchronous motor;

[0032] The stator current state equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0033]

[0034]

[0035] Where: L S is the stator inductance; R S is the stator resistance; u d 、u q are the dq axis voltage components respectively; i d , i q are the dq axis current components respectively; ψ f is the permanent magnet flux; ω e is the rotor electrical angular velocity;

[0036] The forward Euler formula is used to discretize equations (1) and (2) to obtain the dq axis current prediction formula at the next sampling time:

[0037]

[0038]

[0039] Where: k represents the sampling number at the current moment; k+1 represents the sampling number at the next moment; T s is the sampling period; kT s The dq axis current value at the moment; are (k+1)T s The predicted value of dq axis current at time; kT sThe dq axis voltage components at time ; kT s The rotor electrical angular velocity at the moment;

[0040] The electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0041]

[0042] Where: k τ is the torque coefficient;

[0043]

[0044] Where: p is the pole pair number;

[0045] The motion equation of the permanent magnet synchronous motor in the dq axis coordinate system is:

[0046]

[0047] In order to solve the above technical problems, a storage device is also provided, and the specific technical solution is as follows:

[0048] A storage device stores an instruction set, wherein the instruction set is used to execute: a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor perform three-loop closed control;

[0049] The slave motor adopts torque control mode;

[0050] The output of the speed loop of the master motor is used as the current set value of the current loop of the slave motor.

[0051] Furthermore, the instruction set is also used to execute: the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts a finite control set model to predict current control, and the current loop of the slave motor adopts a finite control set model to predict current control.

[0052] Further, the instruction set is also used to execute: the master motor includes: a surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor;

[0053] The stator current state equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0054]

[0055]

[0056] Where: L S is the stator inductance; R Sis the stator resistance; u d 、u q are the dq axis voltage components respectively; i d , i q are the dq axis current components respectively; f is the permanent magnet flux; ω e is the rotor electrical angular velocity;

[0057] The forward Euler formula is used to discretize equations (1) and (2) to obtain the dq axis current prediction formula at the next sampling time:

[0058]

[0059]

[0060] Where: k represents the sampling number at the current moment; k+1 represents the sampling number at the next moment; T s is the sampling period; kT s The dq axis current value at the moment; are (k+1)T s The predicted value of dq axis current at time; kT s The dq axis voltage components at time ; kT s The rotor electrical angular velocity at the moment;

[0061] The electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0062]

[0063] Where: k τ is the torque coefficient;

[0064]

[0065] Where: p is the pole pair number;

[0066] The motion equation of the permanent magnet synchronous motor in the dq axis coordinate system is:

[0067]

[0068] The beneficial effect of the present invention is: a torque balancing control method for a circular braiding machine, comprising the steps of: the main motor adopts a position control mode, and the position loop, speed loop and current loop of the main motor are controlled by three loops; the slave motor adopts a torque control mode; the output of the speed loop of the main motor is used as the current given amount in the current loop of the slave motor. Through the above method, the main motor adopts a position control mode, including a position loop, a speed loop and a current loop, wherein the position loop and the speed loop can enable the main motor to reach a given position and speed. The slave motor adopts a torque control mode, including a current loop, and the given amount of its current loop is the output of the speed loop of the main motor. Since the torque is proportional to the current, the output torque of the slave motor is guaranteed to be consistent with the output torque of the main motor, so that the torque balancing control can be achieved, ensuring that the braiding machine does not appear to be stuck due to the large difference in the output torque of each motor or even the phenomenon of the machine being stuck due to excessive acceleration in the startup stage. The two control modes of the master and slave motors are combined, so that the output torque of each motor is consistent and can reach a given position and speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 It is a flow chart of a torque balancing control method for a circular braiding machine described in a specific implementation manner;

[0070] Figure 2 It is a schematic diagram of a torque balancing control method for a circular braiding machine described in a specific implementation manner;

[0071] Figure 3 A schematic diagram of a module of a torque balancing control system for a circular braiding machine according to a specific implementation method;

[0072] Figure 4 A module schematic diagram of a storage device described in a specific implementation manner.

[0073] Description of reference numerals:

[0074] 300. A torque balancing control system for a circular braiding machine,

[0075] 301, main motor,

[0076] 302. From the motor,

[0077] 400. Storage device. DETAILED DESCRIPTION

[0078] In order to explain the technical content, structural features, achieved objectives and effects of the technical solution in detail, the following is a detailed description in conjunction with specific embodiments and accompanying drawings.

[0079] See also Figure 1 to Figure 2In this embodiment, a torque balancing control method for a circular braiding machine can be applied to a storage device, and the storage device can be a circular braiding machine, and the circular braiding machine includes: a main motor and a slave motor, which are described in detail below:

[0080] Step S101: the main motor adopts a position control mode, and the position loop, speed loop and current loop of the main motor are controlled in a three-loop closed-loop manner.

[0081] Step S102: The slave motor adopts a torque control mode, that is, the slave motor only contains a current loop.

[0082] Step S103: The output of the speed loop of the master motor is used as the current set value of the current loop of the slave motor.

[0083] The position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts finite control set model predictive current control, and the current loop of the slave motor adopts finite control set model predictive current control. Figure 2 Further detailed instructions:

[0084] like Figure 2 As shown, the main motor includes: a surface-mounted permanent magnet synchronous motor, and the slave motor includes: a surface-mounted permanent magnet synchronous motor; PMSM1 is the main motor, and PMSM2, PMSM3 and PMSM4 are slave motors; is the main motor position setting at the kth sampling moment, The actual position of the main motor; It is the output of the main motor position loop and the speed reference of the speed loop; It is the output of the main motor speed loop and also the given value of the current loop of the main motor and the slave motor; K SP1 K is the proportional coefficient of the main motor position loop P controller; VP1 , K VI1 They are the proportional and integral coefficients of the main motor speed loop PI controller respectively; The inverter switch.

[0085] In this embodiment, the main motor position loop adopts proportional control (P control), the speed loop adopts proportional-integral control (PI control), and the main motor and slave motor current loops both adopt finite control set model predictive current control (FCS-MPCC).

[0086] The stator current state equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0087]

[0088]

[0089] Where: L S is the stator inductance; R S is the stator resistance; u d 、u q are the dq axis voltage components respectively; i d , i q are the dq axis current components respectively; ψ f is the permanent magnet flux; ω e is the rotor electrical angular velocity;

[0090] The forward Euler formula is used to discretize equations (1) and (2) to obtain the dq axis current prediction formula at the next sampling time:

[0091]

[0092]

[0093] Where: k represents the sampling number at the current moment; k+1 represents the sampling number at the next moment; T s is the sampling period; kT s The dq axis current value at the moment; are (k+1)T s The predicted value of dq axis current at time; kT s The dq axis voltage components at time ; kT s The rotor electrical angular velocity at the moment;

[0094] The electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0095]

[0096] Where: k τ is the torque coefficient;

[0097]

[0098] Where: p is the pole pair number;

[0099] The motion equation of the permanent magnet synchronous motor in the dq axis coordinate system is:

[0100]

[0101] A method for torque balancing control of a circular braiding machine includes the following steps: the main motor adopts a position control mode, and the position loop, speed loop and current loop of the main motor are controlled in a three-loop closed manner; the slave motor adopts a torque control mode; the output of the speed loop of the main motor is used as the current set value in the current loop of the slave motor. The position loop and the speed loop can enable the main motor to reach a given position and speed. The slave motor adopts a torque control mode, including a current loop, and the set value of its current loop is the output of the speed loop of the main motor. Since the torque is proportional to the current, the output torque of the slave motor is guaranteed to be consistent with the output torque of the main motor, so that torque balancing control can be achieved, ensuring that the braiding machine does not appear to be stuck due to the large difference in the output torque of each motor, or even the phenomenon of the machine being stuck due to excessive acceleration in the startup stage. The two control modes of the master and slave motors are combined, so that the output torque of each motor is consistent and can reach a given position and speed.

[0102] See also Figures 2 to 3 In this embodiment, a specific implementation of a torque balancing control system 300 for a circular braiding machine is as follows:

[0103] A torque balancing control system 300 for a circular knitting machine includes: a main motor 301 and a slave motor 302;

[0104] The main motor 301 adopts a position control mode, and the position loop, speed loop and current loop of the main motor 301 perform three-loop closed control;

[0105] The slave motor 302 adopts a torque control mode;

[0106] The output of the speed loop of the master motor 301 is used as the current set value of the current loop of the slave motor 302 .

[0107] Furthermore, the position loop of the main motor 301 adopts proportional control, the speed loop of the main motor 301 adopts proportional-integral control, the current loop of the main motor 301 adopts finite control set model predictive current control, and the current loop of the slave motor 302 adopts finite control set model predictive current control.

[0108] Further, the main motor 301 includes: a surface mounted permanent magnet synchronous motor, and the slave motor 302 includes: a surface mounted permanent magnet synchronous motor; Figure 2 As shown, PMSM1 is the master motor 301, and PMSM2, PMSM3 and PMSM4 are slave motors 302; is the position setting of the main motor 301 at the kth sampling moment, is the actual position of the main motor 301; The output of the position loop of the main motor 301 is used as the speed setting of the speed loop; It is the output of the speed loop of the main motor 301 and also serves as the current loop reference of the main motor 301 and the slave motor 302; K SP1 K is the proportional coefficient of the position loop P controller of the main motor 301; VP1 , K VI1 are respectively the proportional and integral coefficients of the PI controller of the speed loop of the main motor 301; The inverter switch.

[0109] In this embodiment, the position loop of the main motor 301 adopts proportional control (P control), the speed loop adopts proportional-integral control (PI control), and the current loops of the main motor 301 and the slave motor 302 both adopt finite control set model predictive current control (FCS-MPCC).

[0110] The stator current state equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0111]

[0112]

[0113] Where: L S is the stator inductance; R S is the stator resistance; u d 、u q are the dq axis voltage components respectively; i d , i q are the dq axis current components respectively; f is the permanent magnet flux; ω e is the rotor electrical angular velocity;

[0114] The forward Euler formula is used to discretize equations (1) and (2) to obtain the dq axis current prediction formula at the next sampling time:

[0115]

[0116]

[0117] Where: k represents the sampling number at the current moment; k+1 represents the sampling number at the next moment; T s is the sampling period; kT s The dq axis current value at the moment; are (k+1)T s The predicted value of dq axis current at time; kT s The dq axis voltage components at time ; kT s The rotor electrical angular velocity at the moment;

[0118] The electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0119]

[0120] Where: k τ is the torque coefficient;

[0121]

[0122] Where: p is the pole pair number;

[0123] The motion equation of the permanent magnet synchronous motor in the dq axis coordinate system is:

[0124]

[0125] Through the above system, the position loop and the speed loop can make the main motor reach a given position and speed. The slave motor adopts a torque control mode, including a current loop, and the given amount of its current loop is the output of the speed loop of the main motor. Since the torque is proportional to the current, the output torque of the slave motor is guaranteed to be consistent with the output torque of the main motor, and torque balance control can be achieved to ensure that the knitting machine does not freeze due to the large difference in the output torque of each motor or even the machine is stuck due to excessive acceleration in the startup phase. The two control modes of the master and slave motors are combined, so that the output torque of each motor is consistent and can reach a given position and speed.

[0126] See also Figure 2 and Figure 4 In this embodiment, a specific implementation of a storage device 400 is as follows:

[0127] A storage device 400, wherein an instruction set is stored, wherein the instruction set is used to execute: a main motor adopts a position control mode, and a position loop, a speed loop and a current loop of the main motor perform three-loop closed control;

[0128] The slave motor adopts torque control mode;

[0129] The output of the speed loop of the master motor is used as the current set value of the current loop of the slave motor.

[0130] Furthermore, the instruction set is also used to execute: the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts a finite control set model to predict current control, and the current loop of the slave motor adopts a finite control set model to predict current control.

[0131] Furthermore, the instruction set is also used to execute: the master motor includes: a surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor; Figure 2 As shown, PMSM1 is the master motor, and PMSM2, PMSM3 and PMSM4 are slave motors; is the main motor position setting at the kth sampling moment, The actual position of the main motor; It is the output of the main motor position loop and the speed reference of the speed loop; It is the output of the main motor speed loop and also the given value of the current loop of the main motor and the slave motor; K SP1 K is the proportional coefficient of the main motor position loop P controller; VP1 , K VI1 They are the proportional and integral coefficients of the main motor speed loop PI controller respectively; The inverter switch.

[0132] In this embodiment, the main motor position loop adopts proportional control (P control), the speed loop adopts proportional-integral control (PI control), and the main motor and slave motor current loops both adopt finite control set model predictive current control (FCS-MPCC).

[0133] The stator current state equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0134]

[0135]

[0136] Where: L S is the stator inductance; R S is the stator resistance; u d 、u q are the dq axis voltage components respectively; i d , i q are the dq axis current components respectively; ψ f is the permanent magnet flux; ω e is the rotor electrical angular velocity;

[0137] The forward Euler formula is used to discretize equations (1) and (2) to obtain the dq axis current prediction formula at the next sampling time:

[0138]

[0139]

[0140] Where: k represents the sampling number at the current moment; k+1 represents the sampling number at the next moment; T s is the sampling period; kT s The dq axis current value at the moment; are (k+1)T s The predicted value of dq axis current at time; kT s The dq axis voltage components at time ; kT s The rotor electrical angular velocity at the moment;

[0141] The electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is:

[0142]

[0143] Where: k τ is the torque coefficient;

[0144]

[0145] Where: p is the pole pair number;

[0146] The motion equation of the permanent magnet synchronous motor in the dq axis coordinate system is:

[0147]

[0148] The instruction set stored in the storage device 400 is executed, wherein the position loop and the speed loop can make the main motor reach a given position and speed. The slave motor adopts a torque control mode, including a current loop, and the given amount of its current loop is the output amount of the speed loop of the main motor. Since the torque is proportional to the current, the output torque of the slave motor is guaranteed to be consistent with the output torque of the main motor, and torque balance control can be achieved to ensure that the knitting machine does not freeze due to the large difference in the output torque of each motor or even the excessive acceleration in the startup phase causing the machine to jam. The two control modes of the master and slave motors are combined, so that the output torque of each motor is consistent and can reach a given position and speed.

[0149] It should be noted that, although the above embodiments have been described in this article, the patent protection scope of the present invention is not limited thereby. Therefore, based on the innovative concept of the present invention, changes and modifications made to the embodiments described herein, or equivalent structures or equivalent process changes made using the contents of the present invention specification and drawings, directly or indirectly applying the above technical solutions to other related technical fields, are all included in the patent protection scope of the present invention.

Claims

1. A torque balancing control method for a circular braiding machine, characterized in that: Includes steps: The main motor adopts a position control mode, and the position loop, speed loop and current loop of the main motor are controlled in a three-loop closed manner; The slave motor adopts torque control mode; The output of the speed loop of the master motor is used as the current set value of the current loop of the slave motor; since the torque is proportional to the current, the output torque of the slave motor is ensured to be consistent with the output torque of the master motor, so as to achieve torque balance control, the position loop of the master motor adopts proportional control, the speed loop of the master motor adopts proportional-integral control, the current loop of the master motor adopts finite control set model predictive current control, and the current loop of the slave motor adopts finite control set model predictive current control; The two control modes of the master and slave motors are combined so that the output torque of each motor is consistent and can reach a given position and speed.

2. A torque balancing control method for a circular knitting machine according to claim 1, characterized in that: The master motor comprises: a surface-mounted permanent magnet synchronous motor, and the slave motor comprises: a surface-mounted permanent magnet synchronous motor; The stator current state equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is: Where: L S is the stator inductance; R S is the stator resistance; u d 、u q are the dq axis voltage components respectively; i d 、i q are the dq axis current components respectively; f is the permanent magnet flux; ω e is the rotor electrical angular velocity; The forward Euler formula is used to discretize equations (1) and (2) to obtain the dq axis current prediction formula at the next sampling time: Where: k represents the sampling number at the current moment; k+1 represents the sampling number at the next moment; T s is the sampling period; kT s The dq axis current value at the moment; are (k+1)T s The predicted value of dq axis current at the time; kT s The dq axis voltage components at time ; kT s The rotor electrical angular velocity at the moment; The electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is: Where: k τ is the torque coefficient; Where: p is the pole pair number; The motion equation of the permanent magnet synchronous motor in the dq axis coordinate system is:

3. A torque balancing control system for a circular braiding machine, characterized in that: The invention comprises a torque balancing control method for a circular braiding machine as claimed in claim 1 or 2, wherein the torque balancing control system for the circular braiding machine comprises: a main motor and a slave motor; The main motor adopts a position control mode, and the position loop, speed loop and current loop of the main motor are controlled in a three-loop closed manner; The slave motor adopts a torque control mode; The output of the speed loop of the main motor is used as the current set value of the current loop of the slave motor; the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts finite control set model predictive current control, and the current loop of the slave motor adopts finite control set model predictive current control.

4. A torque balancing control system for a circular braiding machine according to claim 3, characterized in that: The master motor comprises: a surface-mounted permanent magnet synchronous motor, and the slave motor comprises: a surface-mounted permanent magnet synchronous motor; The stator current state equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is: Where: L S is the stator inductance; R S is the stator resistance; u d 、u q are the dq axis voltage components respectively; i d 、i q are the dq axis current components respectively; f is the permanent magnet flux; ω e is the rotor electrical angular velocity; The forward Euler formula is used to discretize equations (1) and (2) to obtain the dq axis current prediction formula at the next sampling time: Where: k represents the sampling number at the current moment; k+1 represents the sampling number at the next moment; T s is the sampling period; kT s The dq axis current value at the moment; are (k+1)T s The predicted value of dq axis current at the time; kT s The dq axis voltage components at time ; kT s The rotor electrical angular velocity at the moment; The electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is: Where: k τ is the torque coefficient; Where: p is the pole pair number; The motion equation of the permanent magnet synchronous motor in the dq axis coordinate system is:

5. A storage device having an instruction set stored therein, characterized in that: The method comprises a torque balancing control method for a circular knitting machine as claimed in claim 1 or 2, wherein the instruction set is used to execute: the main motor adopts a position control mode, and the position loop, speed loop and current loop of the main motor perform three-loop closed control; The slave motor adopts torque control mode; The output of the speed loop of the main motor is used as the current set value of the current loop of the slave motor; the instruction set is also used to execute: the position loop of the main motor adopts proportional control, the speed loop of the main motor adopts proportional-integral control, the current loop of the main motor adopts finite control set model predictive current control, and the current loop of the slave motor adopts finite control set model predictive current control.

6. A storage device according to claim 5, characterized in that: The instruction set is also used to execute: the master motor includes: a surface-mounted permanent magnet synchronous motor, the slave motor includes: a surface-mounted permanent magnet synchronous motor; The stator current state equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is: Where: L S is the stator inductance; R S is the stator resistance; u d 、u q are the dq axis voltage components respectively; i d 、i q are the dq axis current components respectively; f is the permanent magnet flux; ω e is the rotor electrical angular velocity; The forward Euler formula is used to discretize equations (1) and (2) to obtain the dq axis current prediction formula at the next sampling time: Where: k represents the sampling number at the current moment; k+1 represents the sampling number at the next moment; T s is the sampling period; kT s The dq axis current value at the moment; are (k+1)T s The predicted value of dq axis current at the time; kT s The dq axis voltage components at time ; kT s The rotor electrical angular velocity at the moment; The electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor in the dq axis coordinate system is: Where: k τ is the torque coefficient; Where: p is the pole pair number; The motion equation of the permanent magnet synchronous motor in the dq axis coordinate system is:

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