Model predictive flux control method and system based on α-β axis

Abstract

The application discloses a model prediction flux linkage control method and system based on an alpha-beta axis, replaces a torque angle calculation part in a traditional method with a torque PI controller, reduces a calculation burden, avoids a calculation error problem caused by parameter misalignment in a calculation formula, replaces a flux linkage prediction and a value function optimization process in the traditional method with sector judgment and flux linkage amplitude judgment, effectively reduces algorithm operation time, and the control process is simpler compared with the traditional method; and the control process of the application does not need a rotating coordinate transformation and does not contain motor parameters, and thus the robustness of control is effectively improved.

Description

TECHNICAL FIELD

[0001] The application relates to a model prediction flux linkage control method and system based on an alpha-beta axis, and belongs to the technical field of motor control. BACKGROUND

[0002] The permanent magnet auxiliary synchronous reluctance motor combines the respective advantages of a permanent magnet synchronous motor and a synchronous reluctance motor, has the advantages of high power density, high efficiency, wide adjustable speed range, small size, light weight and the like, significantly reduces the use amount of permanent magnet material, weakens the requirement on the performance of the permanent magnet, and has a wider application prospect than the permanent magnet synchronous motor, and has become a research hotspot of scholars in various countries.

[0003] For the permanent magnet auxiliary synchronous reluctance motor, it is relatively difficult to calculate the reference load angle through the reference torque and the reference flux linkage, the calculation formula is complex, and the traditional model prediction torque control (MPFC) is based on the dq axis for flux linkage prediction, the calculation amount of the flux linkage prediction and the value function optimization part is large, and thus the overall control process is relatively complex. SUMMARY

[0004] The application provides a model prediction flux linkage control method and system based on an alpha-beta axis, and solves the problems disclosed in the background art.

[0005] In order to solve the above technical problems, the technical scheme adopted by the application is:

[0006] The model prediction flux linkage control method based on the alpha-beta axis comprises the following steps:

[0007] Current currents and voltages of the permanent magnet auxiliary synchronous reluctance motor are collected;

[0008] According to the current currents and voltages of the permanent magnet auxiliary synchronous reluctance motor, the alpha-beta axis flux linkage, torque T e , flux linkage angle θ s and speed n of the current time are calculated;

[0009] According to the speed n of the current time and the given speed n * , the given torque and the given flux linkage

[0010] According to the torque T e of the current time and the given torque , the torque angle increment Δδ is calculated;

[0011] According to the torque angle increment Δδ, the flux linkage angle θ s of the current time and the given flux linkage , the alpha-beta axis reference flux linkage is calculated;

[0012] According to the α-β axis reference flux linkage and the α-β axis flux linkage at the current moment, the sector judgment mode and the flux linkage amplitude judgment mode are adopted to determine the voltage vector acting on the inverter.

[0013] According to the current and the voltage of the permanent magnet auxiliary synchronous reluctance motor at the current moment, the α-β axis flux linkage, the torque T e , the flux linkage angle θ s and the rotational speed n at the current moment are calculated, including:

[0014] The Clark transformation is performed on the current of the permanent magnet auxiliary synchronous reluctance motor at the current moment to obtain the α-β axis current;

[0015] The Clark transformation is performed on the voltage of the permanent magnet auxiliary synchronous reluctance motor at the current moment to obtain the α-β axis voltage;

[0016] According to the α-β axis current and the α-β axis voltage, the α-β axis flux linkage and the torque T e at the current moment are calculated;

[0017] According to the α-β axis flux linkage at the current moment, the flux linkage angle θ s at the current moment is calculated;

[0018] According to the flux linkage angle θ s at the current moment, the rotational speed n at the current moment is calculated.

[0019] According to the rotational speed n at the current moment and the given rotational speed n * , the given torque and the given flux linkage are calculated, including:

[0020] According to the rotational speed n at the current moment and the given rotational speed n * , the rotational speed error is calculated;

[0021] The proportional integral adjustment is performed on the rotational speed error to obtain the given torque

[0022] According to the given torque , the given flux linkage

[0023] According to the torque T e at the current moment and the given torque , the torque angle increment Δδ is calculated, including:

[0024] According to the torque T e at the current moment and the given torque , the torque error is calculated;

[0025] The proportional integral adjustment is performed on the torque error to obtain the torque angle increment Δδ.

[0026] According to the torque angle increment Δδ, the current time flux angle θ s and the given flux Calculate the α-β axis reference flux, including:

[0027] Add the torque angle increment Δδ and the current time flux angle θ s , obtain the reference flux angle;

[0028] According to the reference flux angle and the given flux Calculate the α-β axis reference flux.

[0029] The formula for calculating the α-β axis reference flux is:

[0030]

[0031] Where, is the α-β axis reference flux, is the reference flux angle, is the given flux.

[0032] According to the α-β axis reference flux and the current time α-β axis flux, using sector judgment method and flux amplitude judgment method, determine the voltage vector acting on the inverter, including:

[0033] Take the α-β axis reference flux as the next time α-β axis flux, according to the current time α-β axis flux and the next time α-β axis flux, calculate the target flux vector difference

[0034] According to the stator voltage equation, calculate the flux vector increment

[0035] According to the included angle between the target flux vector difference and the flux vector increment , determine the effective voltage vector closest to the target flux vector difference , the effective voltage vector and zero vector constitute the candidate vector set;

[0036] Judge the amplitude size of the target flux vector difference and the flux vector increment , select the voltage vector acting on the inverter from the candidate vector set.

[0037] Judge the amplitude size of the target flux vector difference and the flux vector increment , select the voltage vector acting on the inverter from the candidate vector set, including:

[0038] Judge the amplitude size of the target flux vector difference and the flux vector increment .

[0039] like The zero vector in the candidate vector set is taken as the voltage vector acting on the inverter;

[0040] like The effective voltage vector in the candidate vector set is used as the voltage vector acting on the inverter.

[0041] Model-predictive flux linkage control systems based on the α-β axes include:

[0042] The data acquisition module collects the current and voltage of the permanent magnet assisted synchronous reluctance motor at the current moment.

[0043] The current-moment parameter calculation module calculates the α-β axis flux linkage and torque T at the current moment based on the current and voltage of the permanent magnet assisted synchronous reluctance motor. e Magnetic flux linkage angle θ s and rotational speed n;

[0044] Given a parameter calculation module, based on the current rotational speed n and the given rotational speed n... * Calculate the given torque and given magnetic flux

[0045] The torque angle increment calculation module calculates the torque angle based on the torque T at the current moment. e and given torque Calculate the torque angle increment Δδ;

[0046] The equivalent flux linkage conversion module, based on the torque angle increment Δδ and the flux linkage angle θ at the current moment... s and given magnetic flux Calculate the α-β axis reference flux linkage;

[0047] The optimal voltage vector selection module determines the voltage vector acting on the inverter based on the α-β axis reference flux linkage and the current α-β axis flux linkage, using sector judgment and flux linkage amplitude judgment methods.

[0048] A computer-readable storage medium storing one or more programs, said programs including instructions that, when executed by a computing device, cause the computing device to perform an α-β axis-based model predictive flux linkage control method.

[0049] The application has the advantages that: the application uses a torque PI controller to replace the torque angle calculation part in the traditional method, reduces the calculation burden, avoids the calculation error problem caused by the parameter misalignment in the calculation formula, uses sector judgment and flux linkage amplitude judgment to replace the flux linkage prediction and value function optimization process in the traditional method, effectively reduces the algorithm operation time, and the control process is simpler compared with the traditional method; and the control process of the application does not need rotation coordinate transformation and does not contain motor parameters, thereby effectively improving the robustness of the control. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 is a flowchart of the method of the application;

[0051] Figure 2 is an alpha-beta axis flux linkage vector diagram;

[0052] Figure 3 is a flux linkage vector sector division diagram;

[0053] Figure 4 is a flux linkage vector relationship diagram when the optimal voltage vector is a zero vector;

[0054] Figure 5 is a flux linkage vector relationship diagram when the optimal voltage vector is u2;

[0055] Figure 6 is a structure block diagram of the system of the application. DETAILED DESCRIPTION

[0056] The application will be further described below with reference to the drawings. The following examples are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0057] As shown in the drawings, the model predictive flux linkage control method based on the alpha-beta axis includes the following steps: Figure 1

[0058] Step 1, collect the current and voltage of the permanent magnet auxiliary synchronous reluctance motor at the current time;

[0059] Step 2, according to the current and voltage of the permanent magnet auxiliary synchronous reluctance motor at the current time, calculate the alpha-beta axis flux linkage, torque T e , flux linkage angle θ s and rotational speed n of the current time;

[0060] Step 3, according to the rotational speed n of the current time and the given rotational speed n * , calculate the given torque and the given flux linkage

[0061] Step 4, according to the torque T e of the current time and the given torque​ calculating the torque angle increment Δδ;

[0062] Step 5, calculating the torque angle increment Δδ according to the torque angle increment Δδ, the flux angle θ of the current moment s and the given flux calculating the α-β axis reference flux;

[0063] Step 6, determining the voltage vector acting on the inverter according to the α-β axis reference flux and the α-β axis flux of the current moment, using the sector judgment method and the flux amplitude judgment method.

[0064] The above method uses a torque PI controller to replace the torque angle calculation part in the traditional method, reduces the calculation burden, avoids the calculation error problem caused by the parameter misalignment in the calculation formula, uses the sector judgment and flux amplitude judgment to replace the flux prediction and value function optimization process in the traditional method, effectively reduces the algorithm operation time, and compared with the traditional method, the control process is simpler; and the control process of the method does not need to rotate the coordinate transformation, does not contain the motor parameters, and effectively improves the robustness of the control.

[0065] The permanent magnet auxiliary synchronous reluctance motor is controlled by the inverter, and can use current sensors and voltage sensors to collect the three-phase current and three-phase voltage of the permanent magnet auxiliary synchronous reluctance motor at the current moment, that is, the three-phase current and three-phase voltage output by the inverter to the permanent magnet auxiliary synchronous reluctance motor; wherein the three-phase current is represented as i a , i b , i c , and the three-phase voltage is represented as u a , u b , u c .

[0066] The Clark transformation is performed on the three-phase current of the permanent magnet auxiliary synchronous reluctance motor at the current moment, that is, the α-β axis current i α , i β , and the Clark transformation is performed on the three-phase voltage of the permanent magnet auxiliary synchronous reluctance motor at the current moment, that is, the α-β axis voltage u α , u β .

[0067] According to the α-β axis current i α , i β and the α-β axis voltage u α , u β , the α-β axis flux ψ sα , ψ sβ and the torque T e of the current moment can be calculated by the voltage and current hybrid model method, and further according to the α-β axis flux ψ sα , ψ sβCalculate the flux linkage angle θ at the current moment. s According to the flux linkage angle θ at the current moment s Calculate the rotational speed n at the current moment.

[0068] Based on the current rotational speed n and the given rotational speed n * Calculate the speed error, apply proportional-integral (PI) regulation to the speed error, and obtain the given torque. Based on the given torque Calculate a given flux linkage

[0069] Based on the torque T at the current moment e and given torque Calculate the torque error, apply proportional-integral (PI) adjustment to the torque error, and obtain the torque angle increment Δδ.

[0070] After obtaining the torque angle increment Δδ and the flux linkage angle θ at the current moment... s and given magnetic flux In this case, the torque angle increment Δδ and the flux linkage angle θ at the current moment are used. s Adding, that is Obtain the reference flux angle

[0071] Based on the reference flux angle and the given flux The α-β axis reference flux can be calculated using the following formula.

[0072]

[0073] in, The reference flux linkage is for the α-β axis. For reference flux linkage angle, Given a magnetic flux linkage.

[0074] Finally, based on the α-β axis reference flux linkage and the current α-β axis flux linkage, the voltage vector acting on the inverter is determined using the sector judgment method and the flux linkage amplitude judgment method. This determines the optimal voltage vector for controlling the permanent magnet assisted synchronous reluctance motor.

[0075] The process of determining the optimal voltage vector can be as follows:

[0076] Figure 2 For the magnetic flux vector diagram, based on the concept of no-difference, let the α-β axes be referenced by the magnetic flux. As the α-β axis flux linkage ψ at the next moment sα (k+1), ψ sβ (k+1), calculate the target flux linkage vector difference based on the current α-β axis flux linkage and the next α-β axis flux linkage. As shown in the following formula:

[0077]

[0078] wherein, is the amplitude of the flux vector difference and sα (k) represents the α-β axis flux linkage at the current time k, sβ (k) represents the α-β axis flux linkage at the current time k, is the amplitude of the flux vector difference and

[0079] According to the stator voltage equation, the flux vector increment Specifically, the first-order Euler discretization of the two stator voltage equations in the stationary coordinate system can obtain the relationship between the α-β axis flux linkage at the next time and the α-β axis flux linkage at the current time:

[0080]

[0081] wherein, T s is the control period, and R s is the stator resistance.

[0082] Under the action of (u α , u β ), the flux vector increment can be represented as:

[0083]

[0084] wherein, |Δψ s | is the amplitude of the flux vector difference , Δθ s is the angle between the α axis and the flux vector difference .

[0085] According to the definition of the value function , under the action of the optimal voltage vector, the difference between and is the smallest, so according to the angle between the target flux vector difference and the flux vector increment , the effective voltage vector closest to the target flux vector difference can be determined, and the effective voltage vector and the zero vector form the candidate vector set.

[0086] Ignoring the resistance effect, |Δψ s | and Δθ s can be represented as:

[0087] Figure 3For the vector sector division diagram, the effective voltage vector and the zero vector can be selected according to the sector in which the motor is located, wherein:

[0088] {u1, u0} as the alternative vector set;

[0089] {u2, u0} as the alternative vector set;

[0090] {u3, u0} as the alternative vector set;

[0091] {u4, u0} as the alternative vector set;

[0092] {u5, u0} as the alternative vector set;

[0093] {u6, u0} as the alternative vector set;

[0094] The effective voltage vector u1 represents the state that the upper tube of phase A of the inverter is turned on and the lower tube is turned off, the upper tube of phase B is turned off and the lower tube is turned on, and the upper tube of phase C is turned off and the lower tube is turned on; the effective voltage vector u2 represents the state that the upper tube of phase A of the inverter is turned on and the lower tube is turned off, the upper tube of phase B is turned on and the lower tube is turned off, and the upper tube of phase C is turned off and the lower tube is turned on; the effective voltage vector u3 represents the state that the upper tube of phase A of the inverter is turned off and the lower tube is turned on, the upper tube of phase B is turned on and the lower tube is turned off, and the upper tube of phase C is turned off and the lower tube is turned on; the effective voltage vector u4 represents the state that the upper tube of phase A of the inverter is turned off and the lower tube is turned on, the upper tube of phase B is turned on and the lower tube is turned off, and the upper tube of phase C is turned on and the lower tube is turned off; the effective voltage vector u5 represents the state that the upper tube of phase A of the inverter is turned off and the lower tube is turned on, the upper tube of phase B is turned off and the lower tube is turned on, and the upper tube of phase C is turned on and the lower tube is turned off; the effective voltage vector u6 represents the state that the upper tube of phase A of the inverter is turned on and the lower tube is turned off, the upper tube of phase B is turned off and the lower tube is turned on, and the upper tube of phase C is turned on and the lower tube is turned off; and the zero vector u0 represents the state that the three phases of the inverter are simultaneously turned on or turned off.

[0095] After the alternative vector set is obtained, the voltage vector acting on the inverter can be further selected from the alternative vector set by judging the amplitude of the difference between the target flux linkage vector and the flux linkage vector increment and the amplitude of the flux linkage vector increment .

[0096] Specifically, the size of and can be judged, if , the zero vector in the alternative vector set is selected as the voltage vector acting on the inverter, so that the error between the flux linkage at the next moment and the given flux linkage is minimized; if ​The effective voltage vector in the candidate vector set is used as the voltage vector acting on the inverter, so that the error between the flux linkage at the next moment and the given flux linkage is minimized.

[0097] To further simplify the calculation, the magnitude of the flux linkage can be determined using the trigonometric relationship of the flux linkage vector, eliminating the need for further calculation. The specific process is as follows:

[0098] by For example, the candidate voltage vectors are the effective voltage vector u2 and the zero vector, which can be directly obtained. and The included angle Δθ2 is as follows:

[0099]

[0100] in, This represents the flux linkage vector increment obtained under the action of the effective voltage vector u2;

[0101] Known vector The amplitude is |Δψ s2 |, such as Figure 4 As shown in ob, the vector Amplitude like Figure 4 As shown in the diagram, let oc = oa * cos(Δθ2), if like Figure 4 As shown, at this time If the zero vector in the candidate vector set is taken as the voltage vector acting on the inverter, like Figure 5 As shown, at this time The effective voltage vector in the candidate vector set is used as the voltage vector acting on the inverter.

[0102] The method for obtaining the information when it is located in other sectors is similar and will not be described again here.

[0103] The above method eliminates the torque angle calculation, flux prediction, and value function optimization, effectively reducing the algorithm's computation time. Furthermore, it does not require the use of rotor angle and motor parameters during predictive control, thus improving the robustness of model predictive flux control.

[0104] Based on the same technical solution, this invention also discloses a software system for the above method, a model-predictive flux linkage control system based on the α-β axis, as detailed below. Figure 6 .

[0105] Figure 6 In the circuit, the power supply circuit is connected to the inverter through the rectifier. The inverter controls the permanent magnet assisted synchronous reluctance motor, which is connected to the motor load module.

[0106] Figure 6 In this system, the control system includes:

[0107] The data acquisition module collects the current and voltage of the permanent magnet assisted synchronous reluctance motor at the current moment.

[0108] The acquisition module specifically includes a motor current acquisition module and a motor voltage acquisition module. The motor current acquisition module acquires the three-phase current i of the permanent magnet assisted synchronous reluctance motor at the current moment. a i b i c The motor voltage acquisition module acquires the current three-phase voltage u of the permanent magnet assisted synchronous reluctance motor. a u b u c .

[0109] The current-moment parameter calculation module calculates the α-β axis flux linkage and torque T at the current moment based on the current and voltage of the permanent magnet assisted synchronous reluctance motor. e Magnetic flux linkage angle θ s And rotational speed n.

[0110] The current-moment parameter calculation module includes a Clark transformation module, a flux linkage and torque calculation module, a stator flux linkage angle calculation module, and a speed calculation module. There are two Clark transformation modules, one for three-phase current and the other for three-phase voltage; the flux linkage and torque calculation module calculates the flux linkage and torque based on the α-β axis current i. α i β and α-β axis voltage u α u β Calculate the α-β axis flux linkage ψ at the current moment. sα ψ sβ and torque T e The stator flux linkage angle calculation module calculates the current α-β axis flux linkage ψ. sα ψ sβ Calculate the flux linkage angle θ at the current moment. s The rotational speed calculation module calculates the current flux linkage angle θ. s Calculate the rotational speed n at the current moment.

[0111] Given a parameter calculation module, based on the current rotational speed n and the given rotational speed n... * Calculate the given torque and given magnetic flux

[0112] The given parameter calculation module includes a speed error module, a speed PI module, and an optimal flux linkage calculation module. The speed error module calculates the speed based on the current speed n and the given speed n. *, calculate the speed error; a speed PI module, which proportionally integrates (PI) the speed error to obtain the given torque an optimal flux calculation module, which calculates the given flux according to the given torque calculate the given flux

[0113] a torque angle increment calculation module, which calculates the torque angle increment according to the current torque T e and the given torque calculate the torque angle increment Δδ.

[0114] The torque angle increment calculation module comprises a torque error module and a torque PI module. The torque error module calculates the torque error according to the current torque T e and the given torque ; and the torque PI module proportionally integrates (PI) the torque error to obtain the torque angle increment Δδ.

[0115] an equivalent flux conversion module, which calculates the α-β axis reference flux according to the torque angle increment Δδ, the current flux angle θ s and the given flux .

[0116] an optimal voltage vector selection module, which determines the voltage vector u op acting on the inverter according to the α-β axis reference flux and the current α-β axis flux by using a sector judgment method and a flux amplitude judgment method.

[0117] Based on the same technical solution, the application further discloses a computer readable storage medium storing one or more programs, the one or more programs comprising instructions that, when executed by a computing device, cause the computing device to perform the α-β axis-based model predictive flux control method.

[0118] Based on the same technical solution, the application further discloses a computing device comprising one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs comprise instructions for performing the α-β axis-based model predictive flux control method.

[0119] Those skilled in the art will understand that embodiments of the application can be provided as methods, systems, or computer program products. Therefore, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) containing computer-usable program code.

[0120] The embodiments of methods, hardware systems, software systems, and computer program products of the application can be implemented by computer program instructions stored on a computer-readable medium that is read by a computer or other programmable data processing apparatus. The computer program instructions can produce a machine, such that the instructions, which execute Figure 1 one or more functions specified in the flow or flows and / or blocks. Figure 1 one or more functions specified in the flow or flows and / or blocks.

[0121] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 one or more functions specified in the flow or flows and / or blocks. Figure 1 one or more functions specified in the flow or flows and / or blocks.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the Figure 1 one or more functions specified in the flow or flows and / or blocks. Figure 1 one or more functions specified in the flow or flows and / or blocks.

[0123] The foregoing is merely illustrative of the principles of this application and various modifications can be made by those skilled in the art without departing from the scope and spirit of the application. For example, the above-described embodiments (and / or variations and / or additions thereto) can be used as techniques to constrain the operation of the application. Also, the protection provided by the present application is not to be limited to the specific embodiments described herein, but rather the protection is to extend to allowing a user to control the operation of the application.

Claims

1. A model predictive flux linkage control method based on an α-β axis, characterized by, The method comprises the following steps: acquiring the current and voltage of the permanent magnet auxiliary synchronous reluctance motor at the current moment; According to the current and voltage of the permanent magnet auxiliary synchronous reluctance motor at the current time, the α-β axis flux linkage, torque T, flux linkage angle θ and rotating speed n at the current time are calculated e s ​​ According to the rotational speed n of the current time and the given rotational speed n * , the rotational speed error is calculated; the proportional integral adjustment is performed on the rotational speed error to obtain the given torque According to the given torque The given flux is calculated According to the current time torque T e and a given torque Calculate the torque error; proportionally integrate the torque error to obtain the torque angle increment Δδ; According to the torque angle increment Δδ, the flux angle θ of the current time s and the given flux Calculate the α-β axis reference flux; determining the voltage vector acting on the inverter according to the α-β axis reference flux linkage and the α-β axis flux linkage at the current moment by using a sector judgment method and a flux linkage amplitude judgment method.

2. The model predictive flux control method based on a-β axis according to claim 1, characterized in that, According to the current and voltage of the permanent magnet auxiliary synchronous reluctance motor at the current time, the α-β axis flux linkage, torque T, flux linkage angle θ and rotating speed n at the current time are calculated e s ​​ The method comprises the following steps: performing Clark transformation on the current of the permanent magnet auxiliary synchronous reluctance motor at the current moment to obtain α-β axis current; performing Clark transformation on the voltage of the permanent magnet auxiliary synchronous reluctance motor at the current moment to obtain α-β axis voltage; According to the α-β axis current and the α-β axis voltage, the α-β axis flux linkage and torque T at the current time are calculated e ; According to the α-β axis flux linkage at the current time, the flux linkage angle θ at the current time is calculated s ; The flux angle θ at the current time is calculated from the following equation. s The rotational speed n at the current time is calculated from the following equation.

3. The model predictive flux control method based on a-β axis according to claim 1, characterized in that, According to the torque angle increment Δδ, the flux angle θ of the current time s and the given flux calculating the α-β axis reference flux, comprising: The torque angle increment Δδ and the flux linkage angle θ at the current moment are used to... s Add them together to obtain the reference flux angle; According to the reference flux linkage angle and the given flux linkage The α-β axis reference flux linkage is calculated.

4. The model predictive flux control method based on a-β axis according to claim 3, characterized in that, the formula for calculating the α-β axis reference flux linkage is: wherein, is the a-β axis reference flux linkage, is the reference flux linkage angle, is the given flux linkage.

5. The α-β axis-based model predictive flux linkage control method according to claim 1, characterized by, determining the voltage vector acting on the inverter according to the α-β axis reference flux linkage and the α-β axis flux linkage at the current moment by using a sector judgment method and a flux linkage amplitude judgment method. The α-β axis reference flux linkage is taken as the α-β axis flux linkage at the next moment, and the target flux linkage vector difference is calculated according to the α-β axis flux linkage at the current moment and the α-β axis flux linkage at the next moment According to the stator voltage equation, the flux linkage vector increment is calculated According to the target flux linkage vector difference and the included angle of the flux linkage vector increment , the effective voltage vector closest to the target flux linkage vector difference is determined, and the effective voltage vector and the zero vector constitute an alternative vector set; judging target flux linkage vector difference and the magnitude of the flux linkage vector increment from the set of alternative vectors.

6. The α-β axis-based model predictive flux linkage control method according to claim 5, characterized by, judging a target flux linkage vector difference and a magnitude of a flux linkage vector increment selecting a voltage vector acting on the inverter from among the alternative vectors, including: judging a target flux linkage vector difference a magnitude of a flux linkage vector increment ​ If zero vectors of the alternative vector set as voltage vectors acting on the inverter; If The effective voltage vector in the set of alternative vectors is used as the voltage vector acting on the inverter.

7. A model predictive flux control system based on an α-β axis, characterized in that The method comprises the following steps: an acquisition module, which acquires the current and voltage of the permanent magnet auxiliary synchronous reluctance motor at the current moment; A current time parameter calculation module calculates α-β axis flux linkage, torque T, flux linkage angle θ and rotation speed n according to current and voltage of the current time of the permanent magnet auxiliary synchronous reluctance motor. e s and rotation speed n;​ The given parameter calculation module calculates a rotational speed error based on the current rotational speed n and the given rotational speed n * . The speed error is proportionally and integrally adjusted to obtain the given torque According to the given torque The given flux is calculated torque angle increment calculation module, according to current time torque T e and given torque calculating torque error; proportionally and integrally adjusting the torque error to obtain torque angle increment Δδ; The equivalent flux linkage conversion module converts the torque angle increment Δδ and the current time flux linkage angle θ s and the given flux linkage calculates the α-β axis reference flux linkage; an optimal voltage vector selection module, which determines the voltage vector acting on the inverter according to the α-β axis reference flux linkage and the α-β axis flux linkage at the current moment by using a sector judgment method and a flux linkage amplitude judgment method.

8. A computer-readable storage medium storing one or more programs, the one or more programs comprising instructions that when executed by a computer cause the computer to perform a method of any of claims 1-7. The one or more programs include instructions that, when executed by a computing device, cause the computing device to perform the method according to any one of claims 1 to 6.

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