Incremental voltage limit optimization deadbeat current prediction control method and system

Abstract

The application discloses a method and system for incremental voltage limit optimization deadbeat current prediction control, comprising a d1q1d3q3 rotating coordinate system containing harmonics, derivation of a five-phase permanent magnet synchronous motor incremental deadbeat current prediction control equation; according to the control ability of d1q1 axis output voltage on d1q1 axis current, dividing the working condition, constructing the incremental deadbeat current prediction controller of the five-phase permanent magnet synchronous motor for different working conditions; taking the output reference voltage of the d1q1d3q3 axis controller as the input, constructing a double-plane space vector pulse width modulation signal calculation equation; taking the target value, feedback value, electrical angle and electrical angular velocity of the d1q1d3q3 axis current increment of the permanent magnet synchronous motor at the current moment as the controller input, calculating the controller output reference voltage and the vector pulse width modulation signal of the next control period, sending to the five-phase half-bridge inverter, outputting the control voltage, and driving the motor to run. The application is suitable for the control of the five-phase permanent magnet synchronous motor.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to an incremental voltage-limited optimized deadbeat current prediction control method and system. Background Technology

[0002] Five-phase permanent magnet synchronous motors have gained increasing attention due to their advantages such as high reliability, low power per phase, and low torque ripple. However, the circuit structure of a five-phase permanent magnet synchronous motor differs from that of a three-phase motor, and it cannot automatically offset the impact of third harmonic voltage on motor operation. Third harmonic voltage can cause current distortion, which in turn adversely affects motor speed and position control, leading to a decrease in stability, accuracy, and efficiency, requiring intervention from control algorithms.

[0003] Deadbeat current predictive control (DFC) offers advantages such as low computational complexity, constant switching frequency, high control bandwidth, and high dynamic response, making it a promising application in five-phase permanent magnet synchronous motor (PMSM) control. However, when the target current undergoes sudden changes or current acquisition is affected by pulse interference, the output control voltage of this method becomes extremely high, easily exceeding the limiting voltages of the DC bus and voltage modulation system. This negatively impacts the current control accuracy and ultimately reduces the dynamic response and control stability of the five-phase PMSM. This is one of the main difficulties currently hindering the application of DFC in five-phase PMSM control.

[0004] Another drawback of deadbeat current predictive control is its high dependence on the accuracy of the control model parameters. However, in practical applications, due to unavoidable factors such as parameter errors, delays, and nonlinearities, the accuracy of the model is difficult to control, leading to problems such as steady-state error, decreased dynamic performance, and reduced stability in current control. This also brings difficulties to the application of deadbeat current predictive control. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an incremental voltage-limited optimized deadbeat current prediction control method and system, applicable to the control of a five-phase permanent magnet synchronous motor. It is used to optimize the control voltage when the deadbeat current control voltage reaches the voltage limit, thereby improving the accuracy and stability of deadbeat current control, reducing the sensitivity to the accuracy of control parameters, and controlling the third harmonic current.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An incremental voltage-limited optimized deadbeat current prediction control method includes the following steps:

[0008] S101. Based on the d1q1d3q3 rotating coordinate system containing harmonics, derive the incremental deadbeat current prediction control equation for a five-phase permanent magnet synchronous motor.

[0009] S102. Divide the working conditions according to the control capability of the d1q1 axis current by the output voltage of the d1q1 axis, and build an incremental deadbeat current prediction controller for the five-phase permanent magnet synchronous motor for different working conditions.

[0010] S103. Using the reference voltage output by the d1q1d3q3 axis controller as input, construct the calculation equation for the dual-plane space vector pulse width modulation signal.

[0011] S104. Using the target value and feedback value of the current increment of the permanent magnet synchronous motor d1q1d3q3 axis current, the electric angle and electric angular velocity of the motor as the controller input, calculate the controller output reference voltage and vector pulse width modulation signal for the next control cycle, send them to the five-phase half-bridge inverter, output control voltage, and drive the five-phase permanent magnet synchronous motor to run.

[0012] The derivation of the governing equations in step S101 includes:

[0013] Calculate the current increment along the d1q1d3q3 axis at time k: Δi(k) = i(k) - i(k-1),

[0014] Calculate the equivalent actual voltage increment of the d1q1d3q3 axis controller output at time k: Δu(k)=u(k)-u(k-1),

[0015] Calculate the estimated increment of the d1q1d3q3 axis current at time k+1:

[0016] Given the current increment at time k+2:

[0017] Calculate the equivalent actual voltage increment at the controller output:

[0018] Calculate the controller output reference voltage: u * (k+1)=u(k)+△u(k+1),

[0019] Among them, A=(I+A c )T s B u =B cu T s ,

[0020] Among them, T s I represents the control period, ω represents the identity matrix, and ω represents the control period. e L represents the electric angular velocity feedback value of the motor.q1 L d1 L q3 L d3 These represent the inductances of the motor's q1, d1, q3, and d3 axes, respectively. R s This indicates the stator phase resistance of the motor; This represents the d1q1d3q3 axis current at time k. This represents the equivalent actual voltage output of the d1q1d3q3 axis controller at time k. This represents the target current at time k. This represents the output reference voltage of the d1q1d3q3 axis controller at time k. This represents the increment of the d1q1d3q3 axis current at time k. This represents the predicted value of the d1q1d3q3 axis current increment at time k. This represents the increment of the reference voltage output of the d1q1d3q3 axis controller at time k. k can be k+1 or k-1, which means it represents the physical quantity at time k+1 or k-1.

[0021] In step S102, different working conditions are divided into three types, and a controller is constructed based on the three different working conditions.

[0022] Operating Condition 1: The voltage within the output voltage limit of the d1 and q1 axes can simultaneously meet the requirements of deadbeat current control for both the d1 and q1 axes, i.e., u d1 (k+1) 2 +u q1 (k+1) 2 ≤u max 2 ;

[0023] At this time, the controller output voltage is as follows: u(k+1)=u * (k+1);

[0024] in, This represents the equivalent actual voltage of the controller output at time k+1. This represents the reference voltage output of the d1q1d3q3 axis controller at time k+1, u. max This indicates the maximum output voltage of the d1q1 axis.

[0025] Operating Condition 2: The voltage within the output voltage limit of the d1 and q1 axes can meet the requirements of deadbeat current control for the d1 axis, but cannot simultaneously meet the requirements of deadbeat current control for both the d1 and q1 axes.

[0026]

[0027] The actual output of the controller is as follows:

[0028] in, This represents the equivalent actual voltage of the controller output at time k+1. This represents the reference voltage output of the d1q1d3q3 axis controller at time k+1, u. max This represents the maximum output voltage of the d1q1 axis, and sgn is the sign function.

[0029] Operating Condition 3: The voltage within the output voltage limit of the d1q1 axis cannot meet the requirements of the d1 axis for deadbeat current control, i.e., u d1 (k+1)>u max ;

[0030] The actual output of the controller is as follows:

[0031] in, This represents the equivalent actual voltage of the controller output at time k+1. This represents the reference voltage output of the d1q1d3q3 axis controller at time k+1, u. max This represents the maximum output voltage of the d1q1 axis, and sgn is the sign function.

[0032] u max The specific calculation equation is as follows:

[0033] In the formula, u max k represents the maximum output voltage of the d1q1 axis. c U represents the compensation coefficient. dc This is the DC bus voltage. This indicates the d3q3 axis output reference voltage.

[0034] In step S103, the calculation equation for the dual-plane space vector pulse width modulation signal is as follows:

[0035] T park U dc T 1v t 1v =u(k+1)

[0036] Among them, U dc This is the DC bus voltage. The duration of action of the base voltage vector, For the extended Park transformation matrix, This is the transformation matrix for converting the base vector action time to the equivalent voltage in the α1β1α3β3 coordinate system, where θ is the motor electrical angle and c is the motor sector number.

[0037] Step S104 includes:

[0038] Collect the target value i of the d1q1d3q3 axis current of the five-phase permanent magnet synchronous motor at the current time k.* (k), feedback value i(k), and electrical angle θ and electrical angular velocity ω e As a controller input;

[0039] The controller is based on the DC bus voltage U dc And the d3q3 axis predicted voltage calculation and d1q1 axis output voltage limit u max ;

[0040] The controller calculates the actual output equivalent value of the d1q1d3q3 axis voltage for the next cycle of the five-phase permanent magnet synchronous motor based on the predictive control equation;

[0041] The controller calculates the actual output SVPWM base vector percentage time of the five-phase permanent magnet synchronous motor in the next cycle based on the dual-plane space vector pulse width modulation signal calculation equation, and outputs it after converting it into the duty cycle of each phase.

[0042] This invention also discloses an incremental voltage-limited optimized deadbeat current prediction control system, comprising:

[0043] Five-phase permanent magnet synchronous motor;

[0044] A current sensor is used to sample the stator phase current i of a five-phase permanent magnet synchronous motor at time k. s (k), and used to calculate the d1q1d3q3 axis current i(k);

[0045] A position sensor that detects the electrical angle θ and electrical angular velocity ω of the current position of the motor. e ;

[0046] An incremental voltage-limited optimized deadbeat current prediction controller is used, wherein the incremental voltage-limited optimized deadbeat current prediction controller uses the d1q1d3q3 axis current feedback value i(k) of the five-phase permanent magnet synchronous motor at the current time k and the target value i * (k) and electrical angle θ, electrical angular velocity ω e As input, calculate the actual output equivalent value of voltage u(k+1) at time k+1;

[0047] A dual-plane space vector pulse width modulator, wherein the dual-plane space vector pulse width modulator outputs an equivalent value u(k+1) based on the actual voltage and the DC bus voltage U. dc Calculate the proportion of the fundamental vector in the spatial vector pulse width modulation (PWM) and generate the PWM signal S. abcde ;

[0048] A five-phase half-bridge inverter, which outputs a pulse-width modulated voltage under the control of the pulse-width modulation signal to drive a five-phase permanent magnet synchronous motor.

[0049] The beneficial effects of this invention are as follows: by dividing the operating conditions according to the control capability of the d1q1 axis current based on the d1q1 axis output voltage and designing a deadbeat current prediction controller for each condition, the deadbeat output control voltage exceeds the limit. The incremental control method introduces an integral element to eliminate the static control error. Furthermore, the third harmonic current is controlled by a dual-plane space vector pulse width modulation method, which effectively improves the accuracy and stability of the deadbeat current control, reduces the sensitivity to the accuracy of control parameters, and also controls the third harmonic current of the five-phase permanent magnet synchronous motor. Attached Figure Description

[0050] Figure 1 This diagram illustrates the steps of the incremental voltage limiting optimization deadbeat current prediction control method of the present invention.

[0051] Figure 2 This is a schematic diagram of the incremental voltage limiting optimized deadbeat current prediction control system of the present invention.

[0052] Figure 3 This is the basic vector diagram of the dual-plane SVPWM of the present invention.

[0053] Figure 4 This is a speed curve diagram of the step response of the present invention when applied to the simulation of a five-phase permanent magnet synchronous motor under the condition of parameter mismatch.

[0054] Figure 5 This is a graph showing the phase current curve of the speed step response when the present invention is applied to the simulation of a five-phase permanent magnet synchronous motor under parameter mismatch conditions.

[0055] Figure 6 This is a graph showing the speed step response d1q1 axis current curve when the present invention is applied to the simulation of a five-phase permanent magnet synchronous motor under parameter mismatch conditions.

[0056] Figure 7 This is a graph showing the speed step response d3q3 axis current curve when the present invention is applied to the simulation of a five-phase permanent magnet synchronous motor under parameter mismatch conditions. Detailed Implementation

[0057] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0058] like Figures 1 to 7 As shown, an incremental voltage-limited optimized deadbeat current prediction control method is described, referring to... Figure 1 This includes the following steps:

[0059] S101. Based on the d1q1d3q3 rotating coordinate system containing harmonics, derive the incremental deadbeat current prediction control equation for a five-phase permanent magnet synchronous motor.

[0060] S102. Divide the working conditions according to the control capability of the d1q1 axis current by the output voltage of the d1q1 axis, and build an incremental deadbeat current prediction controller for the five-phase permanent magnet synchronous motor for different working conditions.

[0061] S103. Using the reference voltage output by the d1q1d3q3 axis controller as input, construct the calculation equation for the dual-plane space vector pulse width modulation signal.

[0062] S104. Using the target value and feedback value of the current increment of the permanent magnet synchronous motor d1q1d3q3 axis current, the electric angle and electric angular velocity of the motor as the controller input, calculate the controller output reference voltage and vector pulse width modulation signal for the next control cycle, send them to the five-phase half-bridge inverter, output control voltage, and drive the five-phase permanent magnet synchronous motor to run.

[0063] The derivation of the governing equations in step S101 includes:

[0064] Calculate the current increment along the d1q1d3q3 axis at time k: Δi(k) = i(k) - i(k-1),

[0065] Calculate the equivalent actual voltage increment of the d1q1d3q3 axis controller output at time k: Δu(k)=u(k)-u(k-1),

[0066] Calculate the estimated increment of the d1q1d3q3 axis current at time k+1:

[0067] Given the current increment at time k+2:

[0068] Calculate the equivalent actual voltage increment at the controller output:

[0069] Calculate the controller output reference voltage: u * (k+1)=u(k)+△u(k+1),

[0070] Among them, A=(I+A c )T s B u =B cu T s ,

[0071] Among them, T s I represents the control period, ω represents the identity matrix, and ω represents the control period. e L represents the electric angular velocity feedback value of the motor. q1 L d1 L q3 L d3These represent the inductances of the motor's q1, d1, q3, and d3 axes, respectively. R s This indicates the stator phase resistance of the motor; This represents the d1q1d3q3 axis current at time k. This represents the equivalent actual voltage output of the d1q1d3q3 axis controller at time k. This represents the target current at time k. This represents the output reference voltage of the d1q1d3q3 axis controller at time k. This represents the increment of the d1q1d3q3 axis current at time k. This represents the predicted value of the d1q1d3q3 axis current increment at time k. This represents the increment of the reference voltage output of the d1q1d3q3 axis controller at time k. k can be k+1 or k-1, which means it represents the physical quantity at time k+1 or k-1.

[0072] In step S102, different working conditions are divided into three types, and a controller is constructed based on the three different working conditions.

[0073] Operating Condition 1: The voltage within the output voltage limit of the d1 and q1 axes can simultaneously meet the requirements of deadbeat current control for both the d1 and q1 axes, i.e., u d1 (k+1) 2 +u q1 (k+1) 2 ≤u max 2 ;

[0074] At this time, the controller output voltage is as follows: u(k+1)=u * (k+1);

[0075] in, This represents the equivalent actual voltage of the controller output at time k+1. This represents the reference voltage output of the d1q1d3q3 axis controller at time k+1, u. max This indicates the maximum output voltage of the d1q1 axis.

[0076] Operating Condition 2: The voltage within the output voltage limit of the d1 and q1 axes can meet the requirements of deadbeat current control for the d1 axis, but cannot simultaneously meet the requirements of deadbeat current control for both the d1 and q1 axes.

[0077]

[0078] The actual output of the controller is as follows:

[0079] in, This represents the equivalent actual voltage of the controller output at time k+1. This represents the reference voltage output of the d1q1d3q3 axis controller at time k+1, u. max This represents the maximum output voltage of the d1q1 axis, and sgn is the sign function.

[0080] Operating Condition 3: The voltage within the output voltage limit of the d1q1 axis cannot meet the requirements of the d1 axis for deadbeat current control, i.e., u d1 (k+1)>u max ;

[0081] The actual output of the controller is as follows:

[0082] in, This represents the equivalent actual voltage of the controller output at time k+1. This represents the reference voltage output of the d1q1d3q3 axis controller at time k+1, u. max This represents the maximum output voltage of the d1q1 axis, and sgn is the sign function.

[0083] u max The specific calculation equation is as follows:

[0084] In the formula, u max k represents the maximum output voltage of the d1q1 axis. c U represents the compensation coefficient. dc This is the DC bus voltage. This indicates the d3q3 axis output reference voltage.

[0085] In step S103, the calculation equation for the dual-plane space vector pulse width modulation signal is as follows:

[0086] T park U dc T 1v t 1v =u(k+1)

[0087] Among them, U dc This is the DC bus voltage. The duration of action of the base voltage vector, For the extended Park transformation matrix, This is the transformation matrix for converting the base vector action time to the equivalent voltage in the α1β1α3β3 coordinate system, where θ is the motor electrical angle and c is the motor sector number.

[0088] Step S104 includes: acquiring the target value i of the axis current i of the five-phase permanent magnet synchronous motor d1q1d3q3 at the current time k. * (k), feedback value i(k), and electrical angle θ and electrical angular velocity ω e As a controller input;

[0089] The controller is based on the DC bus voltage U dc And the d3q3 axis predicted voltage calculation and d1q1 axis output voltage limit u max ;

[0090] The controller calculates the actual output equivalent value of the d1q1d3q3 axis voltage for the next cycle of the five-phase permanent magnet synchronous motor based on the predictive control equation;

[0091] The controller calculates the actual output SVPWM base vector percentage time of the five-phase permanent magnet synchronous motor in the next cycle based on the dual-plane space vector pulse width modulation signal calculation equation, and outputs it after converting it into the duty cycle of each phase.

[0092] Reference Figure 2 An incremental voltage-limited optimized deadbeat current prediction control system includes:

[0093] Five-phase permanent magnet synchronous motor;

[0094] A current sensor is used to sample the stator phase current i of a five-phase permanent magnet synchronous motor at time k. s (k), and used to calculate the d1q1d3q3 axis current i(k);

[0095] A position sensor that detects the electrical angle θ and electrical angular velocity ω of the current position of the motor. e ;

[0096] An incremental voltage-limited optimized deadbeat current prediction controller is used, wherein the incremental voltage-limited optimized deadbeat current prediction controller uses the d1q1d3q3 axis current feedback value i(k) of the five-phase permanent magnet synchronous motor at the current time k and the target value i * (k) and electrical angle θ, electrical angular velocity ω e As input, calculate the actual output equivalent value of voltage u(k+1) at time k+1;

[0097] A dual-plane space vector pulse width modulator, wherein the dual-plane space vector pulse width modulator outputs an equivalent value u(k+1) based on the actual voltage and the DC bus voltage U. dc Calculate the proportion of the fundamental vector in the spatial vector pulse width modulation (PWM) and generate the PWM signal S. abcde ;

[0098] A five-phase half-bridge inverter, which outputs a pulse-width modulated voltage under the control of the pulse-width modulation signal to drive a five-phase permanent magnet synchronous motor.

[0099] like Figure 2 As shown, the working principle of this application is as follows:

[0100] When the motor is running, the stator phase current i is fed back by the sensor. s(k) and the electrical angle θ are given to the controller to calculate the d1q1d3q3 axis current, with the target value i of the current increment of the permanent magnet synchronous motor d1q1d3q3 axis current at the current moment. * (k), feedback value i(k), electrical angle θ and electrical angular velocity ω of the motor e As inputs to the controller, the controller output reference voltage and vector pulse width modulation signal for the next control cycle are calculated and sent to the five-phase half-bridge inverter to output the control voltage and drive the five-phase permanent magnet synchronous motor.

[0101] Assuming the system operates in steady state, the motor d1q1d3q3 axis current i(k) does not change with time, and the controller output actual equivalent voltage u(k) also does not change. The corresponding changes Δi(k) and Δu(k) are always 0. Combining the incremental discretized state-space equation of the system, it can be derived that the target current i*(k) and the actual current i(k) of the d1q1d3q3 axis are equal and unchanged, that is, the system current control has no static error.

[0102] Under steady state, the five-phase permanent magnet synchronous motor always satisfies:

[0103] Under operating conditions two and three, the voltage of the five-phase motor cannot fully meet the current control requirements. Therefore, when the operating speed and torque of the five-phase motor do not exceed the rated point, the motor will not reach a steady state under operating conditions two and three.

[0104] in, This represents the increment of the d1q1d3q3 axis current at time k. This represents the increment of the reference voltage output by the d1q1d3q3 axis controller at time k. This represents the d1q1d3q3 axis current at time k. Let A represent the target current at time k, where k can be k+1 or k+2, and let B represent the physical quantities at the corresponding time. u All of these are constant coefficients determined by the motor.

[0105] Combining the above equations, we can obtain That is, the system current control has no static error.

[0106] This represents the d1q1d3q3 axis current at time k. This represents the target current at time k. This represents the predicted value of the d1q1d3q3 axis current at time k, where k can be k+1 or k+2, representing the physical quantity at the corresponding time.

[0107] Dual-plane SVPWM basic vector as Figure 3As shown. First, the working sector is selected based on the reference voltage output by the deadbeat controller. Then, the two largest and two second-largest vectors adjacent to the working sector, along with the two zero vectors, are selected as the base vectors for synthesizing the target voltage. Taking sector 0 as an example, V is selected. 25 V 24 V 16 V 29 The basic vector, whose duration accounts for a proportion of the PWM cycle, is t. l1 t l2 t m1 t m2 If the synthesized voltage is made equivalent to the target voltage output by the controller, then the following condition must be met: T park U dc T 1v t 1v = u(k+1).

[0108] The solution to the above equation always exists, but if the deadbeat current predictive controller is not optimized for voltage limiting boundaries, there may be a problem with t. l1 +t l2 +t m1 +t m2 >1 indicates that the voltage output by the deadbeat current prediction controller has exceeded the bus voltage and the voltage output capability of the modulation algorithm.

[0109] To verify the reliability of the method of this invention, simulation tests were conducted based on a mathematical model of a five-phase permanent magnet synchronous motor system. The simulated five-phase permanent magnet synchronous motor employed speed closed-loop and current closed-loop control, with the target current i on the q1 axis of the current loop. q1 * (k) From the PI controller, the three-axis target current i of d1, d3, and q3. d1 * (k), i d3 * (k) and i q3 * (k) are all 0. The current loop uses an incremental voltage-limited optimized deadbeat current prediction controller. The speed command is a step signal from 0 to 5000 rpm. The motor load is only tested for fixed friction and viscous friction. The parameters of the permanent magnet synchronous motor are shown in Table 1. To verify the high tolerance of this method to the model accuracy, the controller parameters and motor parameters have deviations, as shown in Table 2.

[0110] Table 1. Parameters of Five-Phase Permanent Magnet Synchronous Motor

[0111] Stator phase resistance 3Ω dq axis inductor 7mh Permanent magnet flux 0.2292Wb Extreme logarithm 2 DC bus voltage 513V Maximum speed 5000rpm Moment of inertia <![CDATA[125kg·mm 2 ]]>

[0112] Table 2 Controller Parameter Table

[0113] Stator phase resistance 3.3Ω dq axis inductor 8mh Permanent magnet flux 0.2149Wb Extreme logarithm 2 DC bus voltage 513V Maximum speed 5000rpm Control cycle 0.1ms Maximum current 28A

[0114] Figure 4 , Figure 5 and Figure 6 and Figure 7 Simulation results of using incremental voltage limiting to optimize the deadbeat current predictive controller are presented. Analysis of the results curves shows that the adjustment time of the incremental voltage limiting optimized deadbeat current predictive controller is only 0.0025s (time to reach target speed - time of step signal occurrence), with no abnormal distortion in the phase current, and very small control errors for the d1, d3, and q3 axis currents. The q1 axis deviates from the target current; at approximately 0.003s, the q1 axis current no longer follows the target value because the command voltage output by the deadbeat controller has reached the maximum limiting voltage of the d1 and q1 axes. While maintaining the d-axis current control at 0, the q-axis current control can still be guaranteed as much as possible, and no phase current distortion occurs. The d3 and q3 axis currents remain consistently 0, demonstrating the effectiveness of the proposed method.

[0115] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method of incremental voltage limit optimization deadbeat current predictive control, characterized in that, The method comprises the following steps: S101, based on the d1q1d3q3 rotating coordinate system containing harmonics, deriving the incremental deadbeat current prediction control equation of the five-phase permanent magnet synchronous motor; S102, dividing the working conditions according to the control ability of the d1q1-axis output voltage on the d1q1-axis current, and constructing the incremental deadbeat current prediction controller of the five-phase permanent magnet synchronous motor respectively for different working conditions; S103, taking the d1q1d3q3-axis controller output reference voltage as input, constructing the double-plane space vector pulse width modulation signal calculation equation; S104, taking the target value, feedback value of the d1q1d3q3-axis current increment of the permanent magnet synchronous motor at the current time, the electrical angle and the electrical angular velocity of the motor as the input of the controller, respectively calculating the controller output reference voltage and the vector pulse width modulation signal of the next control period, and sending them to the five-phase half-bridge inverter to output the control voltage and drive the five-phase permanent magnet synchronous motor to run; The step S102 is divided into three working conditions and the controller is constructed according to the three different working conditions; Case one: the voltage within the d1q1 axis output voltage limit can reach the requirements of the d1 and q1 axis for the dead-beat current control at the same time, i.e. u d1 (k+1) 2 +u q1 (k+1) 2 ≤u max 2 ; The controller output voltage at this time is as follows: u(k+1) = u * (k+1); wherein, represents the controller output equivalent actual voltage at k+1 time, represents the di qi d3 q3 axis controller output reference voltage at k+1 time, u max represents the di qi axis maximum output voltage; Working condition two: the voltage within the d1q1-axis output voltage limit can meet the requirements of the d1-axis for deadbeat current control, but cannot meet the requirements of the d1-axis and q1-axis for deadbeat current control at the same time, that is The controller actually outputs as follows: wherein, represents the equivalent actual voltage of the controller output at k+1 time, represents the d1q1d3q3-axis controller output reference voltage at k+1 time, u max represents the d1q1-axis maximum output voltage, and sgn is a sign function; Case three: the voltage within the d1q1 axis output voltage limit cannot reach the requirement of d1 axis for the shoot-through current control, that is, u d1 (k+1)>u max ; The controller actually outputs as follows: wherein, represents the equivalent actual voltage of the controller output at time k+1, represents the d1q1d3q3-axis controller output reference voltage at time k+1, u max represents the d1q1-axis maximum output voltage, and sgn is a sign function. In step S103, the double-plane space vector pulse width modulation signal calculation equation is as follows: T park U dc T 1v t 1v = u(k+1) wherein U dc is the DC bus voltage, is the base voltage vector action time, is the extended Park's transformation matrix, is the transformation matrix for converting the base vector action time to the equivalent voltage in the α1β1α3β3 coordinate system, θ is the electrical angle of the motor, and c is the sector number of the motor.

2. The incremental voltage limit optimization shoot-through-free current prediction control method of claim 1, wherein, The derivation of the control equation in step S101 comprises: Calculate the d1q1d3q3-axis current increment at time k: Δi(k) = i(k) - i(k-1), Calculate the d1q1d3q3-axis controller output equivalent actual voltage increment at time k: Δu(k) = u(k) - u(k-1), The d1q1d3q3-axis current increment estimation value at the k+1 time is calculated: Given the current increment at k+2 time instant: The computing controller outputs an equivalent actual voltage increment: The computing controller outputs a reference voltage: u * (k+1) = u(k) + Δu(k+1), where A = (I + A c )T s , B u = B cu T s , wherein T s denotes control period, I denotes unit matrix, ω e denotes motor electrical angular velocity feedback value, L q1 , L d1 , L q3 , L d3 denote motor q1 axis, d1 axis, q3 axis, d3 axis inductance, R s denotes motor stator phase resistance; denotes d1q1d3q3 axis current at k moment, denotes d1q1d3q3 axis controller output equivalent actual voltage at k moment, denotes target current at k moment, denotes d1q1d3q3 axis controller output reference voltage at k moment, denotes d1q1d3q3 axis current increment at k moment, denotes prediction value of d1q1d3q3 axis current increment at k moment, denotes d1q1d3q3 axis controller output reference voltage increment at k moment, k can be k+1 or k-1, that is, it indicates corresponding physical quantity at k+1 or k-1 moment.

3. The incremental voltage limiting optimization deadbeat current prediction control method according to claim 1, characterized in that, u max The calculation equation is specifically: wherein u max represents the maximum output voltage of the d1q1 axis, k c represents the compensation coefficient, U dc is the DC bus voltage, represents the d3q3 axis output reference voltage.

4. The incremental voltage limit optimization shoot-through free current predictive control method of claim 1, wherein, Step S104 comprises: Collect the target value i of the d1q1d3q3 axis current of the five-phase permanent magnet synchronous motor at the current k moment * (k), feedback value i(k) and electrical angle θ, electrical angular velocity ω e As the controller input; The controller calculates the d1q1-axis output voltage limit u based on the dc bus voltage U dc and the d3q3-axis predicted voltage max ; The controller calculates the equivalent value of the actual output voltage of the d1q1d3q3-axis of the five-phase permanent magnet synchronous motor in the next period according to the prediction control equation; The controller calculates the actual output SVPWM basic vector proportion time of the five-phase permanent magnet synchronous motor in the next period according to the double-plane space vector pulse width modulation signal calculation equation, and outputs after converting the duty cycle of each phase.

5. A delta voltage limit optimal shoot-through current predictive control system using the delta voltage limit optimal shoot-through current predictive control method according to any one of claims 1 to 4, characterized by, It comprises: A five-phase permanent magnet synchronous motor; a current sensor for sampling stator phase currents i of the five-phase permanent magnet synchronous motor at time k s (k) and for calculating d1q1d3q3-axis currents i(k); a position sensor that detects an electrical angle Θ of a current position of the motor and an electrical angular velocity ω e ; An incremental voltage limit optimized deadbeat current predictive controller, the incremental voltage limit optimized deadbeat current predictive controller takes the d1q1d3q3 axis current feedback value i(k) of the five-phase permanent magnet synchronous motor at the current k moment, target value i * (k) and electric angle θ, electric angular velocity ω e As input, the equivalent value of the actual output voltage u(k+1) at k+1 moment is calculated; A double-plane space vector pulse width modulator, which outputs an equivalent value u(k+1) of a voltage actual output and a DC bus voltage U dc Calculate the space vector pulse width modulation basic vector proportion, and generate a pulse width modulation signal S abcde ; A five-phase half-bridge inverter, which outputs a pulse width modulation voltage under the control of the pulse width modulation signal and drives the five-phase permanent magnet synchronous motor to run.

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