Permanent magnet synchronous motor predictive current control method and system considering parameter mismatch

Abstract

The application discloses a kind of permanent magnet synchronous motor predictive current control method and system considering parameter mismatch, the mathematical model of motor is first simplified as single-input single-output first-order hyperlocal model, and adaptive gain coefficient is constructed from this extended state observer adjustment;Then, the total disturbance value in hyperlocal model is obtained according to first-order Euler discretization observer equation, and the inductance real-time estimation value is fed back to the input end of predictive extended state observer with one-step delay;The disturbance observation value is used to compensate the control system, and the permanent magnet synchronous motor is controlled using the deadbeat predictive current control method.The method avoids the use of flux linkage and resistance parameters, realizes real-time estimation of inductance parameters, avoids the adverse effects of inductance deviation on observer performance, reduces torque ripple and current harmonics, and further improves the robustness of predictive control to motor parameter mismatch.

Description

Technical Field

[0001] The present invention belongs to the technical field of permanent magnet synchronous motor control, and in particular relates to a permanent magnet synchronous motor predictive current control method and system taking parameter mismatch into consideration. Background Art

[0002] Surface-mounted permanent magnet synchronous motors (SPMSMs) have been widely used in high-precision servo control systems due to their high power density, high efficiency, and simple control. In recent years, predictive control (PC) has been widely used for current loop control of SPMSMs, given its advantages such as fast dynamic performance and ease of handling multiple control variables.

[0003] Predictive current control relies on a mathematical model of the permanent magnet synchronous motor to predict the next current value. However, in actual motor operation, the motor's inductance, resistance, and flux parameters are time-varying. When the parameters in the predictive control equation deviate from the actual motor parameters, the current loop's control performance deteriorates, leading to current tracking errors, increased current harmonics, increased torque ripple, and even control system instability. Therefore, the actual motor parameters significantly impact the control accuracy of predictive current control. Summary of the Invention

[0004] This invention addresses the issue of inductance parameter mismatch, a problem rarely addressed in the art. It provides a method and system for predictive current control of a permanent magnet synchronous motor that considers parameter mismatch. This method achieves real-time estimation of inductance parameters, avoids control issues caused by inductance deviation, improves the extended observer's observation accuracy for disturbances, enables accurate disturbance compensation, and enhances system stability. Furthermore, the method minimizes the use of motor parameters such as flux linkage and resistance parameters, significantly improving the system's robustness to parameter mismatch.

[0005] In one aspect, the present invention provides a method for predictive current control of a permanent magnet synchronous motor considering parameter mismatch, comprising the following steps:

[0006] Step 1: Perform real-time sampling on the permanent magnet synchronous motor to obtain the stator current i of the d-axis and q-axis in the dq rotating coordinate system. d (k), i q (k) and stator voltage u d (k),u q (k) and motor speed ω e (k), k corresponds to the sampling time or sampling point;

[0007] Step 2: The stator current i of the d-axis and q-axis d (k), i q (k), stator voltage u d(k),u q (k) and the motor speed ω e (k) Input the constructed inductance estimation disturbance observer to obtain the real-time inductance estimation value And observe the disturbance observation value of d axis and q axis at the next moment or sampling point and the stator current observation values ​​of the d-axis and q-axis

[0008] The inductance estimation disturbance observer includes an extended state observer and an inductance estimation module. The inductance estimation module calculates the real-time inductance estimation value using the current observation error. Then the real-time estimated value of the inductance One-step delayed feedback is fed back to the input of the extended state observer to participate in the calculation of the disturbance value of the d-axis and q-axis at the next moment or sampling point And the stator current of d-axis and q-axis The current observation error is the difference between the stator current observation value and the sampled value;

[0009] Step 3: Use the perturbation observation values ​​of the d-axis and q-axis at the next moment or sampling point The stator current observation values ​​of the d-axis and q-axis The deadbeat predictive current control principle is used to obtain the reference voltage of the d-axis and q-axis at the next moment or sampling point.

[0010] Step 4: Use the reference voltages of the d-axis and q-axis A space voltage vector modulation strategy is adopted to output an inverter switch control signal for controlling the permanent magnet synchronous motor.

[0011] Optionally, the real-time estimated value of the inductance The calculation formula is derived based on discrete expansion, as follows:

[0012]

[0013] Where, β1 and β2 are the observation coefficients of the extended state observer, is the observed value of the d-axis stator current corresponding to the sampling time or sampling point k, T s is the sampling period of the system.

[0014] Further optionally, the discretization formula of the extended state observer is expressed as:

[0015]

[0016] And there exists:

[0017]

[0018] Among them, e rr (k) is the current observation error value corresponding to the sampling moment or sampling point k, i dq (k) represent the stator current observation value and stator current sampling value in the dq rotating coordinate system corresponding to the sampling moment or sampling point k, respectively. represents the perturbation observation value in the dq rotating coordinate system corresponding to the sampling time or sampling point k, u dq (k) represents the stator current sampling value in the dq rotating coordinate system corresponding to the sampling moment or sampling point k, n is the adaptive gain coefficient, β1 and β2 are the observation coefficients of the extended state observer, I is the second-order unit matrix, T s is the sampling period of the system.

[0019] Optionally, the real-time estimated value of the inductance is considered One-step delay compensation, corresponding to the stator current observation value of the d-axis and q-axis at the next moment or sampling point Calculated according to the following formula:

[0020]

[0021]

[0022] Among them, T s is the sampling period of the system, which is also the control period.

[0023] In a second aspect, the present invention provides a control system based on the method, comprising:

[0024] The sampling module is used to perform real-time sampling of the permanent magnet synchronous motor to obtain the stator current i of the d-axis and q-axis in the dq rotating coordinate system. d (k), i q (k) and stator voltage u d (k),u q (k) and motor speed ω e (k), k corresponds to the sampling time or sampling point;

[0025] Observation module, used to measure the stator current i of the d-axis and q-axis d (k), i q (k), stator voltage u d (k),u q (k) and the motor speed ω e (k) Input the constructed inductance estimation disturbance observer to obtain the real-time inductance estimation value And observe the disturbance observation value of d axis and q axis at the next moment or sampling point and the stator current observation values ​​of the d-axis and q-axis

[0026] The inductance estimation disturbance observer includes an extended state observer and an inductance estimation module. The inductance estimation module calculates the real-time inductance estimation value using the current observation error. Then the real-time estimated value of the inductance One-step delayed feedback is fed back to the input of the extended state observer to participate in the calculation of the disturbance value of the d-axis and q-axis at the next moment or sampling point And the stator current of d-axis and q-axis The current observation error is the difference between the stator current observation value and the sampled value;

[0027] Reference voltage calculation module, used to use the disturbance observation value of the d-axis and q-axis at the next moment or sampling point The stator current observation values ​​of the d-axis and q-axis The reference voltage of d-axis and q-axis is obtained by using the deadbeat predictive current control principle.

[0028] A control module for utilizing the reference voltages of the d-axis and q-axis A space voltage vector modulation strategy is adopted to output an inverter switching signal for controlling the permanent magnet synchronous motor.

[0029] In a third aspect, the present invention provides a system based on the method, comprising: a permanent magnet synchronous motor and a control subsystem, wherein the control subsystem adopts the permanent magnet synchronous motor predictive current control method considering parameter mismatch to generate a switching control signal of the inverter, thereby controlling the permanent magnet synchronous motor.

[0030] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is called by a processor to implement:

[0031] A method for predictive current control of a permanent magnet synchronous motor considering parameter mismatch is provided.

[0032] Beneficial effects

[0033] The present invention provides a predictive current control method for a permanent magnet synchronous motor, which realizes real-time estimation of the stator inductance by constructing an extended state observer, and then feeds it back to the extended state observer through a one-step delay to observe the disturbance values ​​of the d-axis and q-axis at the next moment or sampling point. And the stator current of d-axis and q-axis Among them, the use of real-time estimated inductance values ​​close to the true value in the calculation can effectively improve the observer's observation accuracy of disturbances. Subsequently, the disturbance observation value is used to compensate the control system, achieving accurate compensation of the disturbance and using the deadbeat predictive current control method to control the permanent magnet synchronous motor.

[0034] The technical solution of the present invention avoids the use of flux linkage and resistance parameters, significantly improving the system's robustness to parameter mismatches. Furthermore, it reduces current harmonics and torque ripple, enhancing system stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The overall block diagram of the improved model-free predictive current control;

[0036] Figure 2 The internal structure diagram of the extended state disturbance observer with inductance estimation;

[0037] Figure 3 An improved model-free predictive current control flow chart;

[0038] Figure 4 This is a set of comparison charts showing the simulation results of the traditional model-free predictive current control method and the improved model-free predictive current control method of the present invention under inductor parameter mismatch, including dq axis current, a phase current and harmonic analysis. Among them, (a) is the traditional model-free predictive current control method, and (b) is the improved model-free predictive current control method.

[0039] Figure 5 This is another set of comparison diagrams of the simulation results of the traditional model-free predictive current control method and the improved model-free predictive current control method of the present invention under inductance parameter mismatch, including dq-axis current, a-phase current and harmonic analysis, among which (a) is the traditional model-free predictive current control method and (b) is the improved model-free predictive current control method. DETAILED DESCRIPTION

[0040] The present invention provides a predictive current control method for a permanent magnet synchronous motor considering parameter mismatch, which constructs an extended state observer with adaptive gain coefficient adjustment, and then derives a real-time estimated value of inductance based on the discrete equation of the extended observer. The real-time estimated value of inductance is fed back to the extended state observation value with a further delay, and is used to participate in the disturbance value of the d-axis and q-axis at the next moment or sampling point. And the stator current of d-axis and q-axis Then, the reference current input value obtained by the speed loop PI is compared with the disturbance value of the d-axis and q-axis at the next moment or sampling point. And the stator current of d-axis and q-axis The deadbeat predictive current control principle is used to obtain the reference voltage of the d-axis and q-axis at the next moment or sampling point. That is, it is converted into a reference voltage vector, and then the switching control signal of the two-level inverter is obtained through the space vector modulation strategy to realize the control of the permanent magnet synchronous motor.

[0041] The present invention will be further described below with reference to the embodiments.

[0042] Example 1:

[0043] This embodiment provides a method for predictive current control of a permanent magnet synchronous motor considering parameter mismatch, which includes the following steps:

[0044] Step 1: Perform real-time sampling on the permanent magnet synchronous motor to obtain the stator current i of the d-axis and q-axis in the dq rotating coordinate system. d (k), i q (k) and stator voltage u d (k),u q (k) and motor speed ω e (k), k corresponds to the sampling time or sampling point.

[0045] Step 2: The stator current i of the d-axis and q-axis d (k), i q (k), stator voltage u d (k),u q (k) and the motor speed ω e (k) Input the constructed inductance estimation disturbance observer to obtain the real-time inductance estimation value And observe the disturbance observation value of d axis and q axis at the next moment or sampling point and the stator current observation values ​​of the d-axis and q-axis

[0046] Firstly, an extended state observer with adaptive gain coefficient tuning is constructed.

[0047] According to the mathematical model of the surface-mounted permanent magnet synchronous motor, the first-order extended state equation can be obtained. The extended state is the first-order derivative of the disturbance value, as follows:

[0048]

[0049]

[0050]

[0051] Among them, u d and u q is the stator voltage of d and q axis, i d and i q is the stator current of d and q axis; L s is the true value of stator inductance, ωe is the electrical angular velocity of the motor (used to characterize the motor speed), f dq is the lumped disturbance value in the dq rotating coordinate system, and G is the rate of change of the lumped disturbance value.

[0052] The theoretical analysis value of the disturbance is:

[0053]

[0054]

[0055] Among them, L0 is the initial value of stator inductance, R is the stator resistance, ψ f is the true value of the permanent magnet flux.

[0056] Design of Extended State Observer ESO:

[0057]

[0058] in, is the real-time value of the stator inductance to be estimated. In this embodiment, its initial value is set to the motor nameplate inductance. is the stator current observation value in the dq rotating coordinate system, e rr is the current observation error value, T s is the sampling period of the system, is the dq-axis disturbance observation value, and I is the second-order unit matrix.

[0059] Then the parameters of the extended state observer are tuned and designed:

[0060]

[0061]

[0062] β1=-2ω n

[0063] β2=-ω n 2

[0064] Where n is the adaptive gain coefficient, Θ is the adjustment coefficient, and M is the preset estimated value of the maximum current observation error, that is, β1, β2 are the observation coefficients of the extended state observer, ω n is the system bandwidth.

[0065] After adding the sampling time or sampling point k mark, the equation discretization of the extended state observer exists:

[0066]

[0067] Based on the above discretized equation, the real-time estimated value of inductance is derived. The calculation formula of .

[0068] First, the surface mount machine control i d =0, then:

[0069]

[0070] From the above extended observer equation, the estimated value of the d-axis disturbance can be obtained as:

[0071]

[0072] Further deduction yields:

[0073]

[0074] When there is no inductance deviation in the control system, the disturbance value of the d-axis is 0, so the disturbance reference value of the d-axis at the next moment can be set to 0, that is, Then, the deadbeat control principle can be used to output the estimated inductance value:

[0075]

[0076] In steady state, it satisfies: The above formula can be simplified as:

[0077]

[0078] Therefore, from the above formula, it can be seen that if the stator current i of the d-axis and q-axis is d (k), i q (k), stator voltage u d (k),u q (k) and the motor speed ω e (k) Input the extended state observer, and use the stator current observation value to calculate the current observation error, and then use the current observation error to calculate the real-time estimated value of the inductance For example Figure 1 As shown, the real-time estimated value of the inductance One-step delayed feedback is fed back to the input of the extended state observer to participate in the calculation of the disturbance value of the d-axis and q-axis at the next moment or sampling point And the stator current of d-axis and q-axis

[0079] Based on the discretization formula of the extended state observer, the stator current observation value at time k+1 can be predicted according to the following formula:

[0080]

[0081]

[0082] Similarly, based on the discretized equation of the extended state observer, the disturbance observation value can be calculated.

[0083] It should be noted that, in this embodiment, when the initial moment k=0, the current observation value is assigned an initial value of 0, and the initial value of the real-time estimated value of the stator inductance is assigned to the motor nameplate inductance value, so that the current observation value at the moment k+1 can be obtained based on the voltage applied at the moment k=0. Although the observation error of the initial test is relatively large, as the motor runs, the observation error becomes smaller and smaller, and finally the observation value converges to the actual value.

[0084] Step 3: Use the perturbation observation values ​​of the d-axis and q-axis at the next moment or sampling point The stator current observation values ​​of the d-axis and q-axis The deadbeat predictive current control principle is used to obtain the reference voltage of the d-axis and q-axis at the next moment or sampling point.

[0085] like Figure 1 As shown in the figure, the motor speed and the motor speed reference value (given) are input into the speed loop PI to obtain the q-axis current reference value, and the d-axis current reference value is given as 0. In order to accurately track the reference current of the d-axis and q-axis, the deadbeat control idea is adopted for prediction, and the disturbance value of the d-axis and q-axis at the next moment or sampling point is used. And the stator current of d-axis and q-axis Get the reference voltage of the d-axis and q-axis at the next moment or sampling point Then, the switching control signal of the two-level inverter is obtained through the space vector modulation strategy to realize the control of the permanent magnet synchronous motor.

[0086] In this embodiment, the stator voltage reference value is calculated according to the following formula:

[0087]

[0088]

[0089] in, They represent the reference currents of the d-axis and q-axis at the next moment or sampling point, respectively. The reference current of the q-axis is assigned to 0, and the reference current of the d-axis is obtained by inputting the actual electrical angular velocity of the motor and the reference value of the electrical angular velocity into the speed loop PI. Since this part is existing technology, it will not be described in detail.

[0090] It should be noted that, in other feasible embodiments, the stator voltage reference value calculated using other modified mathematical formulas also falls within the protection scope of the present invention.

[0091] In summary, the technical solution of the present invention inputs the sampling signals of the stator current, stator voltage and speed of the dq axes into the inductance estimation disturbance observer containing the extended state observer to obtain the disturbance observation value and the real-time inductance estimation value; then the real-time inductance estimation value is fed back to the input end of the control system with a one-step delay, and the disturbance observation value is input into the zero-beat predictive current controller for compensation, thereby obtaining the output reference voltage value; finally, the space voltage vector modulation strategy is used to output the inverter switching signal to control the motor. Among them, the method described in the present invention improves the traditional model-free predictive control method based on the super-local model, realizes the real-time estimation of the inductance parameters, avoids the adverse effects of the inductance deviation on the observer performance, reduces the torque pulsation and current harmonics, and further improves the robustness of the predictive control to the motor parameter mismatch.

[0092] In addition, in order to further verify the technical effect of the method of the present invention, a comparative analysis was conducted. Figure 4 、 Figure 5 The simulation results of the traditional model-free predictive current control method and the improved model-free predictive current control method of the present invention under different degrees of inductance parameter mismatch are given respectively. The comparison graphs include dq axis current, a phase current and harmonic analysis. When the inductance parameter in the controller is 2.5 times the actual inductance, as shown in the figure, Figure 4 As shown in the figure, (a) is the traditional model-free predictive current control method, and (b) is the improved model-free predictive current control method. According to the comparison, it can be seen that the method used in the present invention can significantly reduce the ripple of the dq axis current, reduce the current harmonics, and improve the robustness of the predictive control to inductance mismatch. When the inductance parameter in the controller is 0.5 times the actual inductance, as shown in the figure, Figure 5 As shown, the results are consistent with Figure 4 Similarly, the results show that the permanent magnet synchronous motor predictive current control method considering parameter mismatch of the present invention can reduce current harmonics and improve system robustness.

[0093] Example 2:

[0094] Based on the implementation process of the method described in Example 1, this embodiment provides a control system based on a permanent magnet synchronous motor predictive current control method, which includes: a sampling module, an observation module, a reference voltage calculation module and a control module.

[0095] The sampling module is used to perform real-time sampling on the permanent magnet synchronous motor to obtain the stator current i of the d-axis and q-axis in the dq rotating coordinate system. d (k), i q (k) and stator voltage u d (k),u q (k) and motor speed ω e (k), k corresponds to the sampling time or sampling point.

[0096] The observation module is used to measure the stator current i of the d-axis and q-axis d (k), i q (k), stator voltage u d (k),u q (k) and the motor speed ω e (k) Input the constructed inductance estimation disturbance observer to obtain the real-time inductance estimation value And observe the disturbance observation value of d axis and q axis at the next moment or sampling point and the stator current observation values ​​of the d-axis and q-axis

[0097] The inductance estimation disturbance observer includes an extended state observer and an inductance estimation module. The inductance estimation module calculates the real-time inductance estimation value using the current observation error. Then the real-time estimated value of the inductance One-step delayed feedback is fed back to the input of the extended state observer to participate in the calculation of the disturbance value of the d-axis and q-axis at the next moment or sampling point And the stator current of d-axis and q-axis The current observation error is the difference between the stator current observation value and the sampled value.

[0098] The reference voltage calculation module is used to use the disturbance observation values ​​of the d-axis and q-axis at the next moment or sampling point The stator current observation values ​​of the d-axis and q-axis The reference voltage of d-axis and q-axis is obtained by using the deadbeat predictive current control principle.

[0099] The control module is used to use the reference voltage of the d-axis and q-axis A space voltage vector modulation strategy is adopted to output an inverter switching signal for controlling the permanent magnet synchronous motor.

[0100] Please refer to the above-mentioned methods for the specific implementation process of each module, and will not be elaborated here. It should be understood that the above-mentioned division of functional modules is merely a division of logical functions. In actual implementation, other division methods can be used. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not implemented. At the same time, the above-mentioned integrated units can be implemented in the form of hardware or software functional units.

[0101] Example 3:

[0102] This embodiment provides a system based on the permanent magnet synchronous motor predictive current control method, which includes: a permanent magnet synchronous motor and a control subsystem. The control subsystem uses the permanent magnet synchronous motor predictive current control method considering parameter mismatch to generate a switching control signal of the inverter, thereby controlling the permanent magnet synchronous motor.

[0103] Among them, the formation of the control subsystem can be implemented in the manner described in Example 2, or a control terminal device storing a corresponding program of the permanent magnet synchronous motor predictive current control method considering parameter mismatch can be used to generate a switch control signal.

[0104] Example 4:

[0105] This embodiment provides a computer-readable storage medium storing a computer program, wherein the computer program is called by a processor to implement: steps of a method for predictive current control of a permanent magnet synchronous motor considering parameter mismatch.

[0106] Specifically, the following are implemented:

[0107] Step 1: Perform real-time sampling on the permanent magnet synchronous motor to obtain the stator current i of the d-axis and q-axis in the dq rotating coordinate system. d (k), i q (k) and stator voltage u d (k),u q (k) and motor speed ω e (k), k corresponds to the sampling time or sampling point;

[0108] Step 2: The stator current i of the d-axis and q-axis d (k), i q (k), stator voltage u d (k),u q (k) and the motor speed ω e (k) Input the constructed inductance estimation disturbance observer to obtain the real-time inductance estimation value And observe the disturbance observation value of d axis and q axis at the next moment or sampling point and the stator current observation values ​​of the d-axis and q-axis

[0109] The inductance estimation disturbance observer includes an extended state observer and an inductance estimation module. The inductance estimation module calculates the real-time inductance estimation value using the current observation error. Then the real-time estimated value of the inductance One-step delayed feedback is fed back to the input of the extended state observer to participate in the calculation of the disturbance value of the d-axis and q-axis at the next moment or sampling point And the stator current of d-axis and q-axis The current observation error is the difference between the stator current observation value and the sampled value.

[0110] Step 3: Use the perturbation observation values ​​of the d-axis and q-axis at the next moment or sampling point The stator current observation values ​​of the d-axis and q-axis The deadbeat predictive current control principle is used to obtain the reference voltage of the d-axis and q-axis at the next moment or sampling point.

[0111] Step 4: Use the reference voltages of the d-axis and q-axis A space voltage vector modulation strategy is adopted to output an inverter switch control signal for controlling the permanent magnet synchronous motor.

[0112] It should be understood that the implementation process of some steps and whether to execute some steps and the execution order can refer to the implementation process of the above-mentioned embodiment.

[0113] The readable storage medium is a computer-readable storage medium, which can be the internal storage unit of the controller described in any of the aforementioned embodiments, such as the hard disk or memory of the controller. For example, the terrain element model constructed in the present invention is stored in the hard disk, and then the computer program that performs the fusion step is stored in the memory, so that the fusion process is implemented based on the memory. The readable storage medium can also be an external storage device of the controller, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the controller. Furthermore, the readable storage medium can also include both the internal storage unit of the controller and an external storage device. The readable storage medium is used to store the computer program and other programs and data required by the controller. The readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0114] Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned readable storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0115] It should be emphasized that the examples described in the present invention are illustrative rather than restrictive. Therefore, the present invention is not limited to the examples described in the specific embodiments. Any other embodiments derived by those skilled in the art based on the technical solution of the present invention that do not depart from the purpose and scope of the present invention, whether modified or replaced, also fall within the scope of protection of the present invention.

Claims

1. A method for predictive current control of a permanent magnet synchronous motor considering parameter mismatch, characterized by: The following steps are involved: Step 1: Perform real-time sampling on the permanent magnet synchronous motor to obtain the stator current i of the d-axis and q-axis in the dq rotating coordinate system. d (k), i q (k) and stator voltage u d (k),u q (k) and motor speed ω e (k), k corresponds to the sampling time or sampling point; Step 2: The stator current i of the d-axis and q-axis d (k), i q (k), stator voltage u d (k),u q (k) and the motor speed ω e (k) Input the constructed inductance estimation disturbance observer to obtain the real-time inductance estimation value And observe the disturbance observation value of d axis and q axis at the next moment or sampling point and the stator current observation values ​​of the d-axis and q-axis The inductance estimation disturbance observer includes an extended state observer and an inductance estimation module. The inductance estimation module calculates the real-time inductance estimation value using the current observation error. Then the real-time estimated value of the inductance One-step delayed feedback is fed back to the input of the extended state observer to participate in the calculation of the disturbance value of the d-axis and q-axis at the next moment or sampling point And the stator current of d-axis and q-axis The current observation error is the difference between the stator current observation value and the sampled value; Step 3: Use the perturbation observation values ​​of the d-axis and q-axis at the next moment or sampling point The stator current observation values ​​of the d-axis and q-axis The deadbeat predictive current control principle is used to obtain the reference voltage of the d-axis and q-axis at the next moment or sampling point. Step 4: Use the reference voltages of the d-axis and q-axis Adopting a space voltage vector modulation strategy to output an inverter switch control signal for controlling the permanent magnet synchronous motor; Real-time inductance estimation The calculation formula of is derived based on the discrete equation of the extended observer, as follows: Where, β1 and β2 are the observation coefficients of the extended state observer, is the observed value of the d-axis stator current corresponding to the sampling time or sampling point k, T s is the sampling period of the system; The discrete equation of the extended state observer is expressed as: And there exists: Among them, e rr (k) is the current observation error value corresponding to the sampling moment or sampling point k, They represent the stator current observation value and stator current sampling value in the dq rotating coordinate system corresponding to the sampling moment or sampling point k, respectively. represents the perturbation observation value in the dq rotating coordinate system corresponding to the sampling time or sampling point k, u dq (k) represents the stator current sampling value in the dq rotating coordinate system corresponding to the sampling moment or sampling point k, n is the adaptive gain coefficient, and I is the second-order unit matrix.

2. The method for predictive current control of a permanent magnet synchronous motor according to claim 1, wherein: Considering real-time estimation of inductance One-step delay compensation, corresponding to the stator current observation value of the d-axis and q-axis at the next moment or sampling point Calculated according to the following formula: Among them, T s is the sampling period of the system.

3. A control system based on the permanent magnet synchronous motor predictive current control method according to any one of claims 1 to 2, characterized in that: include: The sampling module is used to perform real-time sampling of the permanent magnet synchronous motor to obtain the stator current i of the d-axis and q-axis in the dq rotating coordinate system. d (k), i q (k) and stator voltage u d (k),u q (k) and motor speed ω e (k), k corresponds to the sampling time or sampling point; Observation module, used to measure the stator current i of the d-axis and q-axis d (k), i q (k), stator voltage u d (k),u q (k) and the motor speed ω e (k) Input the constructed inductance estimation disturbance observer to obtain the real-time inductance estimation value And observe the disturbance observation value of d axis and q axis at the next moment or sampling point and the stator current observation values ​​of the d-axis and q-axis The inductance estimation disturbance observer includes an extended state observer and an inductance estimation module. The inductance estimation module calculates the real-time inductance estimation value using the current observation error. Then the real-time estimated value of the inductance One-step delayed feedback is fed back to the input of the extended state observer to participate in the calculation of the disturbance value of the d-axis and q-axis at the next moment or sampling point And the stator current of d-axis and q-axis The current observation error is the difference between the stator current observation value and the sampled value; Reference voltage calculation module, used to use the disturbance observation value of the d-axis and q-axis at the next moment or sampling point The stator current observation values ​​of the d-axis and q-axis The deadbeat predictive current control principle is used to obtain the reference voltage of the d-axis and q-axis at the next moment or sampling point. A control module for utilizing the reference voltages of the d-axis and q-axis A space voltage vector modulation strategy is adopted to output an inverter switching signal for controlling the permanent magnet synchronous motor.

4. A system based on the permanent magnet synchronous motor predictive current control method according to any one of claims 1-2, characterized in that: The invention comprises a permanent magnet synchronous motor and a control subsystem. The control subsystem adopts the permanent magnet synchronous motor predictive current control method considering parameter mismatch to generate a switching control signal of an inverter, thereby controlling the permanent magnet synchronous motor.

5. A computer-readable storage medium, characterized in that: A computer program is stored, which is called by a processor to implement: The steps of the permanent magnet synchronous motor predictive current control method according to any one of claims 1-2.

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