Permanent Magnet Synchronous Motor Predictive Torque Control Method, Storage Medium and Electronic Device

Abstract

The present invention provides a predictive torque control method, a storage medium, and an electronic device for a permanent magnet synchronous motor. The predictive torque control method for the permanent magnet synchronous motor includes the following steps: determining the relationship between two objective functions of torque and flux linkage and the voltage vector; determining the control of the predictive voltage vector on the stator flux linkage and electromagnetic torque; then calculating the torque objective function and the stator flux linkage objective function by using the stator flux linkage amplitude and torque, thereby obtaining a new objective function; finally, comparing the values of the objective functions and using the voltage vector corresponding to the minimum objective function to control the permanent magnet synchronous motor. The weight coefficient-free predictive torque control of the permanent magnet synchronous motor is realized, which can simplify the system complexity, reduce the torque ripple, and improve the torque control accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular, to a predictive torque control method, a storage medium, and an electronic device for a permanent magnet synchronous motor. Background Art

[0002] In recent years, in order to cope with the energy crisis, new energy electric vehicle technology has developed vigorously. Compared with asynchronous motors, permanent magnet synchronous motors (PMSMs) have been widely used in the field of electric vehicles due to many advantages such as high efficiency and high power density.

[0003] In order to improve the torque dynamic control characteristics of permanent magnet synchronous motors, model predictive control has been widely applied to the drive control of permanent magnet synchronous motors. However, the conventional predictive torque control method for permanent magnet synchronous motors has the disadvantage of requiring the design of weight coefficients, which needs to cooperate with complex predictive torque control algorithms, is time-consuming and laborious, and is prone to errors. Summary of the Invention

[0004] An object of the present invention is to address the deficiencies of the prior art. The present application provides a predictive torque control method, a storage medium, and an electronic device for a permanent magnet synchronous motor, establishes two objective functions of torque and flux linkage, and obtains a new objective function without weight coefficients according to the objective functions, thereby finally realizing the predictive torque control of the permanent magnet synchronous motor without weight coefficients, simplifying the algorithm complexity, and reducing the torque ripple.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or will be partially learned through the practice of the present application.

[0006] According to one aspect of the embodiments of the present application, a predictive torque control method for a permanent magnet synchronous motor is provided, including the following steps:

[0007] Determine the relationship between two objective functions of torque and flux linkage and the voltage vector;

[0008] Determine the control of the voltage vector on the stator flux linkage and the electromagnetic torque;

[0009] Construct the objective functions of the stator flux linkage and the electromagnetic torque, and respectively determine the optimal voltage vectors of the stator flux linkage and the electromagnetic torque according to the objective functions;

[0010] Construct a new objective function according to the objective functions of the stator flux linkage and the electromagnetic torque, and determine the optimal voltage vector.

[0011] In some embodiments, determine the stator voltage equation in the x-y axes of the stator magnetic field orientation coordinate system, and represent it by the following expression:

[0012]

[0013]

[0014] Wherein, u sx is the component of the stator voltage on the x-axis, i sx is the component of the stator current on the x-axis, u sy is the component of the voltage on the y-axis, i sy is the component of the stator current on the y-axis, and δ is the angle between the stator flux vector and the rotor flux vector, is the stator resistance, is the differential operator, is the electrical angular velocity, is the stator flux.

[0015] In some embodiments, the control of the stator flux is determined according to the component of the voltage vector on the x-axis, and the control of the electromagnetic torque is determined according to the component of the voltage vector on the y-axis. The steps are as follows:

[0016] When the component of the stator voltage vector on the x-axis is positive, it is determined that the voltage vector increases the stator flux;

[0017] When the component of the stator voltage vector on the x-axis is negative, it is determined that the voltage vector decreases the stator flux;

[0018] When the component of the stator voltage vector on the y-axis is positive, it is determined that the voltage vector increases the electromagnetic torque;

[0019] When the component of the stator voltage vector on the y-axis is negative, it is determined that the voltage vector decreases the electromagnetic torque.

[0020] In some embodiments, according to the requirements of flux and torque, the voltage vectors corresponding to the x-axis component and the y-axis component are selected. The steps are as follows:

[0021] When the motor needs to increase the flux, select the voltage vector with the largest positive component on the x-axis;

[0022] When the motor needs to decrease the flux, select the voltage vector with the largest negative component on the x-axis;

[0023] When the motor needs to increase the torque, select the voltage vector with the largest positive component on the y-axis;

[0024] When the motor needs to decrease the torque, select the voltage vector with the largest negative component on the y-axis.

[0025] In some embodiments, according to the change value of the stator flux linkage and the change value of the electromagnetic torque, the control of the stator flux linkage and the control of the electromagnetic torque are determined as follows:

[0026] If the change value of the stator flux linkage is greater than 0, it is determined that the motor needs to increase the stator flux linkage; otherwise, the stator flux linkage is decreased.

[0027] If the change value of the electromagnetic torque is greater than 0, it is determined that the motor needs to increase the electromagnetic torque; otherwise, the electromagnetic torque is decreased.

[0028] In some embodiments, according to the angular relationship between the voltage vector and the x - y axis, the control effects of the voltage vector on the stator flux linkage and the electromagnetic torque are predicted.

[0029] In some embodiments, the objective function of the stator flux linkage and the objective function of the electromagnetic torque are determined and expressed by the following expressions:

[0030]

[0031]

[0032] According to the minimum value of G 1 and G 2 the voltage vector corresponding to the stator flux linkage control and the voltage vector corresponding to the stator electromagnetic torque are determined.

[0033] In some embodiments, a new objective function is constructed based on the objective function of the stator flux linkage and the objective function of the electromagnetic torque, and the optimal voltage vector is determined through the new objective function, where the objective function is expressed by the following expressions:

[0034] .

[0035] According to another aspect of the embodiments of the present application, a storage medium is provided, on which computer - readable instructions are stored. When the computer - readable instructions are executed by a processor of the computer, the computer is enabled to execute the above - mentioned permanent - magnet synchronous motor predictive torque control method.

[0036] According to still another aspect of the embodiments of the present application, an electronic device is provided, including:

[0037] One or more processors;

[0038] A storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the permanent - magnet synchronous motor predictive torque control method as described above.

[0039] In the technical solution of the embodiment of the present application, a permanent magnet synchronous motor type predictive torque control method based on angle error evaluation is proposed, and the control effects of the voltage vector on the stator flux linkage and electromagnetic torque are predicted according to the angle relationship between the voltage vector and the x-y axis. By establishing two objective functions for torque and flux linkage, a new objective function without weight coefficients is obtained, thus finally realizing the weight coefficient-free predictive torque control of the permanent magnet synchronous motor, simplifying the algorithm complexity and reducing the torque ripple. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present application and, together with the specification, are used to explain the principles of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. In the drawings:

[0041] Figure 1 is a flowchart of the torque prediction control method for a permanent magnet synchronous motor according to an example of the present application;

[0042] Figure 2 is a flowchart of determining the control effect of the voltage vector in an example of the present application;

[0043] Figure 3 is a flowchart of the voltage vector selection mechanism in an example of the present application;

[0044] Figure 4 is a flowchart of determining the control requirements of the permanent magnet synchronous motor in an example of the present application;

[0045] Figure 5 is an execution block diagram of the torque prediction control method for a permanent magnet synchronous motor according to an example of the present application;

[0046] Figure 6 is a schematic diagram of two voltage vectors with the minimum objective function G in an example of the present application;

[0047] Figure 7 is a schematic diagram of the structure of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0048] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art.

[0049] In addition, the described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0050] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0051] The flowcharts shown in the drawings are only illustrative and do not necessarily include all the content and operations / steps, nor are they necessarily executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0052] It should be noted that: "a plurality of" mentioned in this article means two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0053] As Figure 1 shown, the present application provides a predictive torque control method for a permanent magnet synchronous motor, including the following steps:

[0054] Determine the relationship between the two objective functions of torque and flux linkage and the voltage vector;

[0055] Determine the control of the voltage vector on the stator flux linkage and electromagnetic torque;

[0056] Construct the objective functions of the stator flux linkage and electromagnetic torque, and respectively confirm the optimal voltage vectors of the stator flux linkage and electromagnetic torque according to the objective functions;

[0057] Construct a new objective function according to the objective functions of the stator flux linkage and electromagnetic torque, and determine the optimal voltage vector.

[0058] Combining the above steps, according to the dimensional consistency of the stator flux linkage and electromagnetic torque, the present application simplifies the algorithm of predictive torque control. By means of the minimum values of the voltage vectors of the stator flux linkage and electromagnetic torque, a new objective function without weight coefficients is obtained, and the optimal voltage vector is obtained, thereby finally realizing the predictive torque control of the permanent magnet synchronous motor without weight coefficients, simplifying the algorithm complexity, and reducing the torque ripple.

[0059] Specifically, determine the stator voltage equation in the x-y axis of the stator magnetic field orientation coordinate system and express it using the following expressions:

[0060] (1)

[0061] (2)

[0062] In the formula, u sx is the component of the stator voltage on the x-axis, i sx is the component of the stator current on the x-axis, u sy is the component of the voltage on the y-axis, i sy is the component of the stator current on the y-axis, δ is the angle between the stator flux linkage vector and the rotor flux linkage vector, is the stator resistance, is the differential operator, is the electrical angular velocity, is the stator flux linkage.

[0063] It can be seen from the above two expressions (1) and (2) that the control of the stator flux linkage is only related to the component of the voltage vector on the x-axis.

[0064] Similarly, when the magnitude of the stator flux linkage remains unchanged, the electromagnetic torque only depends on the load angle. According to the stator voltage equation, it can be known that the control of the load angle is only related to the y-axis component of the stator voltage vector. From this derivation, the control of the electromagnetic torque is only related to the y-axis component of the voltage vector.

[0065] Specifically, as Figure 2 shown, determine the control of the stator flux linkage according to the component of the voltage vector on the x-axis, and determine the control of the electromagnetic torque according to the component of the voltage vector on the y-axis. The steps are as follows:

[0066] When the component of the stator voltage vector on the x-axis is positive, it is determined that the voltage vector increases the stator flux linkage;

[0067] When the component of the stator voltage vector on the x-axis is negative, it is determined that the voltage vector decreases the stator flux linkage;

[0068] When the component of the stator voltage vector on the y-axis is positive, it is determined that this voltage vector increases the electromagnetic torque;

[0069] When the component of the stator voltage vector on the y-axis is negative, it is determined that this voltage vector decreases the electromagnetic torque.

[0070] Based on the voltage vector control effects of the magnetic flux and torque under the above various conditions, set the control methods of the magnetic flux and torque at the associated moment, and select the corresponding voltage vector to achieve the best control effect of the electromagnetic torque.

[0071] Specifically, as Figure 3 shown, according to the requirements of the magnetic flux and torque, select the voltage vectors corresponding to the x-axis component and the y-axis component. The steps are as follows:

[0072] When the motor needs to increase the magnetic flux, select the voltage vector with the largest positive x-axis component;

[0073] When the motor needs to decrease the magnetic flux, select the voltage vector with the largest negative x-axis component;

[0074] When the motor needs to increase the torque, select the voltage vector with the largest positive y-axis component;

[0075] When the motor needs to decrease the torque, select the voltage vector with the largest negative y-axis component.

[0076] Combined with the above control method, it should be noted that when the motor needs to increase the magnetic flux, in order to obtain the fastest magnetic flux response, the voltage vector with the largest positive x-axis component should be selected, that is, the voltage vector with the smallest angle with the positive x-axis is the voltage vector with the best control effect on the magnetic flux; conversely, the voltage vector with the largest negative x-axis component should be selected, that is, the voltage vector with the smallest angle with the negative x-axis is the voltage vector with the best control effect on the torque.

[0077] Similarly, when the motor needs to increase the torque, in order to obtain the fastest torque response, the voltage vector with the largest positive y-axis component should be selected, that is, the voltage vector with the smallest angle with the positive y-axis is the voltage vector with the best control effect on the electromagnetic torque; conversely, the voltage vector with the largest negative y-axis component should be selected, that is, the voltage vector with the smallest angle with the negative y-axis is the voltage vector with the best control effect on the electromagnetic torque.

[0078] In addition, as Figure 4 shown, the present application determines the control of the stator magnetic flux and the control of the electromagnetic torque according to the change value of the stator magnetic flux and the change value of the electromagnetic torque. The steps are as follows:

[0079] According to the change value of the stator magnetic flux being greater than 0, it is determined that the motor needs to increase the stator magnetic flux. Conversely, the stator magnetic flux is decreased;

[0080] When the change value of the electromagnetic torque is greater than 0, it is determined that the motor needs to increase the electromagnetic torque; conversely, the electromagnetic torque is decreased.

[0081] It should be noted that in this solution, for multiple expressions representing ranges, "conversely" is understood such that the boundary value 0 can be placed on either side of greater than 0 or less than 0. That is, greater than 0 includes greater than 0 and greater than or equal to 0, and less than 0 includes less than 0 and less than or equal to 0. Each embodiment in this case applies one of these value ranges.

[0082] Specifically, as Figure 5 shown, the change value of the stator flux linkage and the change value of the electromagnetic torque are defined and represented by the following expressions:

[0083] (3)

[0084] According to the above expression (3), when Δψs > 0, it indicates that the motor needs to increase the stator flux linkage; conversely, the stator flux linkage is decreased. When ΔT > 0, it indicates that the motor needs to increase the electromagnetic torque; conversely, the electromagnetic torque is decreased.

[0085] In some embodiments of the present application, in combination with the definitions of the change value of the stator flux linkage and the change value of the electromagnetic torque, according to the angular relationship between the voltage vector and the x - y axis, the control effects of the voltage vector on the stator flux linkage and the electromagnetic torque are predicted.

[0086] It should be noted that in the stationary coordinate system, the value of the stator flux linkage vector angle θs is as shown in Table 1:

[0087]

[0088] Table 1 Stator Flux Linkage Vector Angle θ s Value Table

[0089] Among them, the angle θ is defined by the following expression:

[0090] (4)

[0091] Define the flux linkage reference angle θ Ψs 、torque reference angle θ Te and represent them by the following expressions:

[0092] (5)

[0093] (6)

[0094] Among them, the value ranges of θ Ψs 、θ Te are 0 - 2π.

[0095] In addition, in the stationary coordinate system, the voltage vector V i has an angle θ i expressed by the following expression:

[0096] =(i - 1)π / 3(7)

[0097] where i ∈ {1, 2, 3, 4, 5, 6}, representing the voltage vector label.

[0098] Therefore, by combining the above - analyzed angular relationship with the derivation in the above - mentioned expression (3), the control effects of the voltage vector on the stator flux and electromagnetic torque can be predicted based on the angular relationship between the voltage vector and the x - y axis.

[0099] Based on the above - defined angular relationships of flux and torque, the objective functions of the stator flux and the electromagnetic torque are determined and expressed by the following expressions:

[0100] (8)

[0101] (9)

[0102] According to the minimum values of G 1 and G 2 , the voltage vector corresponding to the stator flux control and the voltage vector corresponding to the stator electromagnetic torque are determined.

[0103] Combined with the above - mentioned evaluation function of the voltage vector, further explanation is as follows. A new objective function G(i) is constructed based on the objective functions of the stator flux and the electromagnetic torque. The optimal voltage vector is determined through the new objective function, where the new objective function is expressed by the following expression:

[0104] (10)

[0105] Since the dimensions of G 1 and G 2 are the same, and their value ranges are both 0 - π, no additional weight coefficient needs to be designed, thus simplifying the predictive torque control algorithm.

[0106] It should be noted that the smaller the value of G, the smaller the prediction errors of the stator flux and the electromagnetic torque. Therefore, the G value of each voltage vector can be calculated online, and the voltage vector that makes G take the minimum value is selected as the optimal voltage vector.

[0107] Meanwhile, when screening the voltage vector according to expression (10), in some cases, the voltage vector that makes the evaluation function G minimum is not unique. At this time, further optimization of the voltage vector selection is required.

[0108] Illustrate by way of example, such as Figure 6 As shown, when θs = 2 / 9π, u = 1, and v = 1, G(3) = G(2) = 1 / 2π, both are the minimum values. Since G 2 (3) < G 2 (2), the voltage vector V 3 has a better control effect on torque, so V 3 is selected as the optimal voltage vector to obtain the fastest torque response.

[0109] Therefore, when both voltage vectors make the evaluation function G reach the minimum value, select the voltage vector that makes the evaluation function G 2 take a smaller value as the optimal voltage vector.

[0110] To further clearly disclose a predictive torque control method for a permanent magnet synchronous motor of the present application, in summary, the predictive torque control method for a permanent magnet synchronous motor of the present application includes the following steps:

[0111] Step S1: Determine the relationship between the two objective functions of torque and flux linkage and the voltage vector;

[0112] Step S2: Determine the control of the predictive voltage vector on the stator flux linkage and electromagnetic torque;

[0113] Step S3: Calculate the torque objective function and the stator flux linkage objective function using the stator flux linkage amplitude and torque, and then obtain a new objective function;

[0114] Step S4: Compare the values of the objective functions, and use the voltage vector corresponding to the minimum objective function to control the permanent magnet synchronous motor.

[0115] Combined with the above steps, the weight - coefficient - free predictive torque control of the permanent magnet synchronous motor is realized, which can simplify the system complexity, reduce the torque ripple, and improve the torque control accuracy.

[0116] An embodiment of the present application also provides an electronic device, including a processor and a memory. Among them, computer - readable instructions are stored on the memory, and when the computer - readable instructions are executed by the processor, the above - mentioned predictive torque control method for a permanent magnet synchronous motor is implemented.

[0117] As Figure 7 shown, it is a schematic structural diagram of the computer system of the electronic device for implementing the embodiment of the present application.

[0118] It should be noted that the computer system 900 of the electronic device as Figure 7 shown is only an example, and should not bring any limitations to the functions and usage scope of the embodiments of the present application.

[0119] As Figure 7As shown, computer system 900 includes a Central Processing Unit (CPU) 901, which can perform various appropriate actions and processes according to programs stored in a Read-Only Memory (ROM) 902 or programs loaded from a storage section 908 into a Random Access Memory (RAM) 903, such as executing the methods described in the above embodiments. In the RAM 903, various programs and data required for system operations are also stored. The CPU 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An Input / Output (I / O) interface 905 is also connected to the bus 904.

[0120] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including, for example, a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed so that a computer program read from it can be installed into the storage section 908 as needed.

[0121] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 909, and / or installed from the removable medium 911. When the computer program is executed by a Central Processing Unit (CPU) 901, various functions defined in the system of the present application are executed.

[0122] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0124] The units involved in the embodiments described in this application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not, in some cases, constitute a limitation on the unit itself.

[0125] As another aspect, this application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the permanent magnet synchronous motor predictive torque control method described in the above embodiments.

[0126] It should be noted that although several modules or units of a device for action execution are mentioned in the above detailed description, such a division is not mandatory. In fact, according to the embodiments of this application, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0127] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented in software or in the form of software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (such as a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of this application.

[0128] After considering the specification and practicing the embodiments disclosed herein, those skilled in the art will readily conceive of other embodiments of this application. This application is intended to cover any variations, uses, or adaptations of this application, which follow the general principles of this application and include common general knowledge or conventional technical means in the technical field not disclosed in this application.

[0129] It should be understood that this application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is only limited by the appended claims.

Claims

1. A predictive torque control method for a permanent magnet synchronous motor, characterized in that, it includes the following steps: Determine the relationship between the two objective functions of torque and flux linkage and the voltage vector; Determine the control of the voltage vector on the stator flux linkage and electromagnetic torque; Construct the objective functions of the stator flux linkage and electromagnetic torque, and respectively determine the optimal voltage vectors of the stator flux linkage and electromagnetic torque according to the objective functions; Construct a new objective function according to the objective functions of the stator flux linkage and electromagnetic torque, and determine the optimal voltage vector; Determine the objective function of the stator flux linkage and the objective function of the electromagnetic torque, and express them using the following expressions: Among them, θ Ψs is the reference angle of the stator flux linkage, θ Te is the reference angle of the electromagnetic torque, θ i is the angle of the voltage vector; Stator flux reference angle θ Ψs , electromagnetic torque reference angle θ Te are expressed by the following expressions: (5) (6) θs is the angle of the stator flux linkage vector, Δψ>0 indicates an increase in the stator flux linkage, Δψ<0 indicates a decrease in the stator flux linkage, ΔT>0 indicates an increase in the electromagnetic torque, and ΔT<0 indicates a decrease in the electromagnetic torque; According to G 1 and G 2 Determine the voltage vector corresponding to the stator flux linkage control and the voltage vector corresponding to the stator electromagnetic torque according to the minimum value; Construct a new objective function according to the objective function of the stator flux linkage and the objective function of the electromagnetic torque, and determine the optimal voltage vector through the new objective function, where the new objective function is expressed using the following expression: 。 2. The predictive torque control method for a permanent magnet synchronous motor according to claim 1, characterized in that, Determine the stator voltage equation in the x-y axis of the stator magnetic field orientation coordinate system, and express it using the following expression: Wherein, u sx is the component of the stator voltage on the x-axis, i sx is the component of the stator current on the x-axis, u sy is the component of the voltage on the y-axis, i sy is the component of the stator current on the y-axis, δ is the angle between the stator flux vector and the rotor flux vector, is the stator resistance, is the differential operator, is the electrical angular velocity, is the stator flux.

3. The predictive torque control method for a permanent magnet synchronous motor according to claim 2, characterized in that, Determine the control of the stator flux linkage according to the component of the voltage vector on the x-axis, and determine the control of the electromagnetic torque according to the component of the voltage vector on the y-axis. The steps are as follows: When the component of the stator voltage vector on the x-axis is positive, determine that this voltage vector is for increasing the stator flux linkage; When the component of the stator voltage vector on the x-axis is negative, determine that this voltage vector is for decreasing the stator flux linkage; When the component of the stator voltage vector on the y-axis is positive, determine that this voltage vector is for increasing the electromagnetic torque; When the component of the stator voltage vector on the y-axis is negative, determine that this voltage vector is for decreasing the electromagnetic torque.

4. The predictive torque control method for a permanent magnet synchronous motor according to claim 3, characterized in that, According to the requirements of flux linkage and torque, select the voltage vectors corresponding to the x-axis component and y-axis component. The steps are as follows: When the motor needs to increase the flux linkage, select the voltage vector with the largest positive component on the x-axis; When the motor needs to decrease the flux linkage, select the voltage vector with the largest negative component on the x-axis; When the motor needs to increase the torque, select the voltage vector with the largest positive component on the y-axis; When the motor needs to decrease the torque, select the voltage vector with the largest negative component on the y-axis.

5. The predictive torque control method for a permanent magnet synchronous motor according to claim 4, characterized in that, According to the change value of the stator flux linkage and the change value of the electromagnetic torque, determine the control of the stator flux linkage and the control of the electromagnetic torque. The steps are as follows: When the change value of the stator flux linkage is greater than 0, determine that the motor needs to increase the stator flux linkage, otherwise, decrease the stator flux linkage; When the change value of the electromagnetic torque is greater than 0, determine that the motor needs to increase the electromagnetic torque, otherwise, decrease the electromagnetic torque.

6. The predictive torque control method for a permanent magnet synchronous motor according to claim 5, characterized in that, Predict the control effects of the voltage vector on the stator flux linkage and electromagnetic torque according to the angular relationship between the voltage vector and the x-y axis.

7. A storage medium, characterized in that, it stores computer-readable instructions which, when executed by a processor of a computer, cause the computer to execute the permanent magnet synchronous motor predictive torque control method according to any one of claims 1-6.

8. An electronic device, characterized in that, it includes: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the permanent magnet synchronous motor predictive torque control method according to any one of claims 1-6.

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