Current prediction control method and system for co-phase power supply device based on error differentiation

Abstract

The present invention discloses a current prediction control method and system for a co-phase power supply device based on error differentiation; the method comprises collecting the input voltage and input current of the co-phase power supply device and referring to the current data; establishing a current control system prediction data model and optimizing and updating its pseudo partial derivative matrix; designing a model-free adaptive prediction control scheme based on error differentiation and optimizing and updating its error control gain matrix; processing a control input signal and then modulating it through PWM to generate a disconnection signal for controlling the co-phase power supply device until the control task is completed; the control method and system provided by the present invention are not only suitable for the current control of the co-phase power supply device, but also reduce the difficulty of modeling and improve the control accuracy, and also have the application prospect of being extended to other single-input and single-output systems.

Description

Technical Field

[0001] The present invention belongs to the technical field of power control, and in particular relates to a current prediction control method and system for a co-phase power supply device based on error differentiation. Background Art

[0002] In recent years, the pace of railway electrification construction in my country has been accelerating, which has provided strong support for economic and social development. However, the rapid development of high-speed railways and heavy-load railways has put forward higher requirements on the stability and reliability of railway power supply systems. When facing high-power and asymmetric traction loads, the traditional single-phase power supply method will cause negative sequence current in the three-phase power grid. The negative sequence current becomes more serious with the increase of electric locomotive power, further causing grid voltage fluctuations, equipment overheating, etc., seriously affecting the safety and operation efficiency of the power supply system.

[0003] As a new type of railway power supply method, the same-phase power supply technology can effectively solve the drawbacks of the traditional single-phase power supply method. It uses two single-phase back-to-back AC, DC and AC to convert the single-phase traction load into a three-phase balanced load, thereby eliminating the negative sequence current and improving the stability and reliability of the power supply system. However, the current control strategy in the same-phase power supply device still has some shortcomings: the traditional PI controller is difficult to effectively handle the current sampling period and the delay problem of the control signal, resulting in the limitation of the dynamic performance of the current control; the existing current prediction control method requires the establishment of an accurate mathematical model, which is more difficult for the same-phase power supply device. In order to solve the above problems, the present invention proposes a fully data-driven current prediction control method and system for the same-phase power supply device based on error differentiation. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the object of the present invention is to provide a current prediction control method of a co-phase power supply device based on error differentiation, comprising the following steps:

[0005] Step (1): Collect the input voltage of the same-phase power supply device and input current , for the input voltage conduct Transformation Component voltage and Component voltage , for the input current conduct Transformation Component current and Component current , collect the reference current of the same-phase power supply device , ;

[0006] Step (2): Establish a prediction data model for the current control system of the same-phase power supply device, the current control system includes Loop current control system and In a loop current control system, the prediction data model includes a pseudo partial derivative matrix;

[0007] Step (3): construct a cost function and solve the cost function using the function extremum method, and optimize and update the pseudo partial derivative matrix in step (2);

[0008] Step (4): Design a model-free adaptive predictive control scheme based on error differentiation for the current control system of the co-phase power supply device, wherein the predictive control scheme includes an error control gain matrix, and the calculation is obtained Control input for loop current control systems and Control input for loop current control systems ;

[0009] Step (5): construct a performance optimization objective function and solve the objective function using the gradient descent method to optimize and update the error control gain matrix in step (4);

[0010] Step (6): Based on the error control gain matrix optimized and updated in step (5), the model-free adaptive predictive control scheme based on error differential described in step (4) is used to calculate Loop current control system and The predictive control input vector of the loop current control system is Loop current control system and The first element of the predictive control input vector of the loop current control system and ,Will , Respectively , Add and then After the transformation, a modulation waveform is generated, and finally after PWM modulation, an on / off signal for controlling the same-phase power supply device is generated;

[0011] Repeat the above steps (1) to (6) until the control task is completed.

[0012] Furthermore, in step (2), a prediction data model for the current control system of the same-phase power supply device is established, and the current control system includes Loop current control system and Loop current control system, the prediction data model is established as follows:

[0013] ;

[0014] in, represents the sampling time, express The current prediction vector at the sampling time, N represents the step length, N is a positive integer; express Sampling time Component current or Component current ; represents a vector of all 1s; express Sampling time Pseudo-partial derivative matrix of loop current control system or Pseudo-partial derivative matrix of loop current control system , the dimension of the matrix is , express Sampling time Pseudo-partial derivative variables of loop current control systems or Pseudo-partial derivative variables of loop current control systems ; represents the control time domain constant, is a positive integer; express Sampling time First-order forward difference of the predictive control input vector of the loop current control system or First-order forward difference of the predictive control input vector of the loop current control system , express Sampling time Control input for loop current control systems or Control input for loop current control systems , .

[0015] Furthermore, the cost function is constructed in step (3) and the cost function is solved by using the function extremum method, and the pseudo partial derivative matrix in step (2) is optimized and updated, including the following steps:

[0016] Step (3.1): Construct the following cost function:

[0017] ;

[0018] in, represents the sampling time, Represents a function; express Sampling time Pseudo-partial derivative variables of loop current control systems or Pseudo-partial derivative variables of loop current control systems , ; express Sampling time Component current or Component current ; express Sampling time Control input for loop current control systems or Control input for loop current control systems , ; represents the limiting factor;

[0019] The cost function is solved by using the function extreme value method, and we get Pseudo partial derivative variables at sampling time The update law of:

[0020] ;

[0021] in, represents the step size factor of the pseudo partial derivative variable;

[0022] Step (3.2): Based on the Pseudo partial derivative variables at sampling time The update law of Pseudo partial derivative variables at sampling time The update law of :

[0023] ;

[0024] in, N represents the step length, N is a positive integer; n represents the order, which is an integer between 2 and 7;

[0025] Defining variables , The calculation formula is as follows:

[0026] ;

[0027] in, ; is a positive number, ; represents the 2-norm;

[0028] based on Pseudo partial derivative variables at sampling time The update law of Pseudo partial derivative variables at sampling time The update law optimizes the update of the pseudo partial derivative matrix described in step (2).

[0029] Furthermore, in step (4), a model-free adaptive predictive control scheme based on error differentiation is designed for the current control system of the co-phase power supply device, and the mathematical formula of the control scheme is:

[0030] ;

[0031] in, represents the sampling time, express Sampling time Predictive control input vector for loop current control system or Predictive control input vector for loop current control system ; express Sampling time Control input for loop current control systems or Control input for loop current control systems ; N represents the step length, N is a positive integer; express Sampling time Error Control Gain Matrix of Loop Current Control System or Error Control Gain Matrix of Loop Current Control System , the dimension of the error control gain matrix is ; , L Take an integer between 3 and 5, express Sampling time Current prediction error vector of loop current control system or Current prediction error vector of loop current control system ; ; express Sampling time Reference current vector of loop current control system or Reference current vector of loop current control system , express Sampling time Component reference current or Component reference current ; express Sampling time Component current or Component current ; Represents a vector of all 1s.

[0032] Furthermore, the step (5) of constructing a performance optimization objective function and solving the objective function using a gradient descent method, and optimizing and updating the error control gain matrix in the step (4), comprises the following steps:

[0033] Step (5.1): Construct the following performance optimization objective function with error differential characteristics:

[0034] ;

[0035] in, represents the sampling time, represents the performance optimization objective function; express Sampling time Reference current vector of loop current control system or Reference current vector of loop current control system ; express The current prediction vector at the sampling time, N represents the step length, N is a positive integer; represents the error differential characteristic limiting factor, ; express Sampling time Current prediction error vector of loop current control system or Current prediction error vector of loop current control system ; express Sampling time Component current or Component current ; represents a vector of all 1s; express Sampling time First-order forward difference of the predictive control input vector of the loop current control system or First-order forward difference of the predictive control input vector of the loop current control system , express Sampling time Control input for loop current control systems or Control input for loop current control systems , ; represents the control time domain constant, is a positive integer; represents the penalty factor, ;

[0036] Step (5.2): Use the gradient descent method to solve the objective function described in step (5.1) and optimize the updated error control gain matrix:

[0037] First, calculate the performance optimization objective function The Jacobian matrix for the error control gain matrix is,

[0038] ;

[0039] in, , ; , express Sampling time Predictive control input vector for loop current control system or Predictive control input vector for loop current control system ; express Sampling time Pseudo-partial derivative matrix of loop current control system or Pseudo-partial derivative matrix of loop current control system ;

[0040] Optimize and update the error control gain matrix,

[0041] ;

[0042] in, To learn the law, express Sampling time Error Control Gain Matrix of Loop Current Control System or Error Control Gain Matrix of Loop Current Control System , the dimension of the error control gain matrix is .

[0043] The current prediction control system of the same-phase power supply device based on error differentiation comprises:

[0044] Data acquisition conversion module, used to collect the input voltage of the same-phase power supply device and input current , for the input voltage conduct Transformation Component voltage and Component voltage , for the input current conduct Transformation Component current and Component current , collect the reference current of the same-phase power supply device , ;

[0045] A controller module, including a prediction data model establishment submodule, a pseudo partial derivative matrix update submodule, a prediction control scheme calculation submodule, and a control scheme update submodule;

[0046] The prediction data model establishment submodule is used to establish a prediction data model for the current control system of the same-phase power supply device. The current control system includes Loop current control system and Loop current control system; the prediction data model includes a pseudo partial derivative matrix;

[0047] The pseudo partial derivative matrix updating submodule is used to construct a cost function and solve the cost function using a function extremum method to optimize and update the pseudo partial derivative matrix;

[0048] The predictive control scheme calculation submodule is used to design a model-free adaptive predictive control scheme based on error differentiation for the current control system of the same-phase power supply device. The predictive control scheme includes an error control gain matrix, which is calculated to obtain Control input for loop current control systems and Control input for loop current control systems ;

[0049] The control scheme updating submodule is used to construct a performance optimization objective function and solve the objective function using a gradient descent method, and optimize and update the error control gain matrix in the prediction control scheme calculation submodule;

[0050] The execution module is used to calculate the error control gain matrix based on the error differential model-free adaptive predictive control scheme in the predictive control scheme calculation submodule based on the optimized updated error control gain matrix. Loop current control system and The predictive control input vector of the loop current control system is Loop current control system and The first element of the predictive control input vector of the loop current control system and ,Will , Respectively , Add and then After the transformation, a modulation waveform is generated, and finally after PWM modulation, an on / off signal for controlling the same-phase power supply device is generated.

[0051] Furthermore, the present invention adopts the following technical solutions:

[0052] A non-transitory computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned error differential-based current prediction control method for a common-phase power supply device.

[0053] Furthermore, the present invention adopts the following technical solutions:

[0054] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the current prediction and control method of a common-phase power supply device based on error differentiation as described above is implemented.

[0055] The beneficial technical effects of the present invention are:

[0056] For the current control system of the same-phase power supply device, the existing research has not yet involved the means of combining model-free adaptive control and predictive control. The error differential-based current predictive control method and system of the same-phase power supply device provided by the present invention at least include the following beneficial technical effects:

[0057] (1) Reduced modeling difficulty: The present invention adopts a data-driven control method, which does not require the establishment of an accurate mathematical model of the current control system of the same-phase power supply device, thereby reducing the modeling difficulty and making it easier to apply in practice;

[0058] (2) Improve control accuracy: The new model-free adaptive predictive control method proposed in the present invention has strong online adaptive learning ability, thereby improving the dynamic response performance of current control;

[0059] (3) Broadening the scope of application: The control method and system proposed in the present invention are not only applicable to the current control system of the same-phase power supply device, but can also be extended to other single-input single-output control systems, and have broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic flow chart of a current prediction control method for a co-phase power supply device based on error differentiation provided by the present invention;

[0061] Figure 2 A schematic diagram of the connection modules of the current prediction control system of the same-phase power supply device based on error differentiation provided by the present invention;

[0062] Figure 3 A schematic diagram of the connection of controller modules of a current prediction control system for a co-phase power supply device based on error differentiation provided by the present invention. DETAILED DESCRIPTION

[0063] The present invention discloses a predictive control method and system for a co-phase power supply device based on error differential; the method includes collecting the input voltage and input current of the co-phase power supply device to obtain reference current data; establishing a current control system predictive data model, and optimizing and updating its pseudo-partial derivative matrix; designing a model-free adaptive predictive control scheme based on error differential, and optimizing and updating its error control gain matrix; processing the control input signal and then modulating it with PWM to generate a disconnection signal for controlling the co-phase power supply device until the control task is completed. The control method and system provided by the present invention are not only suitable for the current control of the co-phase power supply device, reducing its modeling difficulty and improving the control accuracy, but also have the application prospect of being extended to other single-input and single-output systems.

[0064] The following is a further clear and complete description of the current prediction control method and system of the same-phase power supply device based on error differentiation provided by the present invention in conjunction with the accompanying drawings:

[0065] Figure 1 A schematic flow chart of a current prediction control method for a co-phase power supply device based on error differentiation provided by the present invention is given. The present invention provides a current prediction control method for a co-phase power supply device based on error differentiation, comprising the following steps:

[0066] Step (1): Collect the input voltage of the same-phase power supply device and input current , for the input voltage conduct Transformation Component voltage and Component voltage , for the input current conduct Transformation Component current and Component current , collect the reference current of the same-phase power supply device , ;

[0067] Step (2): Establish a prediction data model for the current control system of the same-phase power supply device, the current control system includes Loop current control system and In a loop current control system, the prediction data model includes a pseudo partial derivative matrix;

[0068] Step (3): construct a cost function and solve the cost function using the function extremum method, and optimize and update the pseudo partial derivative matrix in step (2);

[0069] Step (4): Design a model-free adaptive predictive control scheme based on error differentiation for the current control system of the co-phase power supply device, wherein the predictive control scheme includes an error control gain matrix, and the calculation is obtained Control input for loop current control systems and Control input for loop current control systems ;

[0070] Step (5): construct a performance optimization objective function and solve the objective function using the gradient descent method to optimize and update the error control gain matrix in step (4);

[0071] Step (6): Based on the error control gain matrix optimized and updated in step (5), the model-free adaptive predictive control scheme based on error differential described in step (4) is used to calculate Loop current control system and The predictive control input vector of the loop current control system is Loop current control system and The first element of the predictive control input vector of the loop current control system and ,Will , Respectively , Add and then After the transformation, a modulation waveform is generated, and finally after PWM modulation, an on / off signal for controlling the same-phase power supply device is generated;

[0072] Repeat the above steps (1) to (6) until the control task is completed.

[0073] According to the current prediction control method for a co-phase power supply device based on error differentiation provided by the present invention, in step (2), a prediction data model for a current control system of the co-phase power supply device is established, and the current control system includes Loop current control system and Loop current control system, the prediction data model is established as follows:

[0074] ;

[0075] in, represents the sampling time, express The current prediction vector at the sampling time, N represents the step length, N is a positive integer; express Sampling time Component current or Component current ; represents a vector of all 1s; express Sampling time Pseudo-partial derivative matrix of loop current control system or Pseudo-partial derivative matrix of loop current control system , the dimension of the matrix is , express Sampling time Pseudo-partial derivative variables of loop current control systems or Pseudo-partial derivative variables of loop current control systems ; represents the control time domain constant, is a positive integer; express Sampling time First-order forward difference of the predictive control input vector of the loop current control system or First-order forward difference of the predictive control input vector of the loop current control system , express Sampling time Control input for loop current control systems or Control input for loop current control systems , .

[0076] According to the current prediction control method for a co-phase power supply device based on error differentiation provided by the present invention, the cost function is constructed in step (3) and the cost function is solved by using the function extreme value method, and the pseudo partial derivative matrix in step (2) is optimized and updated, including the following steps:

[0077] Step (3.1): Construct the following cost function:

[0078] ;

[0079] in, represents the sampling time, Represents a function; express Sampling time Pseudo-partial derivative variables of loop current control systems or Pseudo-partial derivative variables of loop current control systems , ; express Sampling time Component current or Component current ; express Sampling time Control input for loop current control systems or Control input for loop current control systems , ; represents the limiting factor;

[0080] The cost function is solved by using the function extreme value method, and we get Pseudo partial derivative variables at sampling time The update law of:

[0081] ;

[0082] in, represents the step size factor of the pseudo partial derivative variable;

[0083] Step (3.2): Based on the Pseudo partial derivative variables at sampling time The update law of Pseudo partial derivative variables at sampling time The update law of :

[0084] ;

[0085] in, N represents the step length, N is a positive integer; n represents the appropriate order, which is generally an integer between 2 and 7;

[0086] Defining variables , The calculation formula is as follows:

[0087] ;

[0088] in, ; is a positive number, ; represents the 2-norm;

[0089] based on Pseudo partial derivative variables at sampling time The update law of Pseudo partial derivative variables at sampling time The update law optimizes the pseudo partial derivative matrix described in step (2) .

[0090] According to the current prediction control method of a co-phase power supply device based on error differentiation provided by the present invention, in step (4), a model-free adaptive prediction control scheme based on error differentiation is designed for the current control system of the co-phase power supply device. The mathematical formula of the control scheme is:

[0091] ;

[0092] in, represents the sampling time, express Sampling time Predictive control input vector for loop current control system or Predictive control input vector for loop current control system ; express Sampling time Control input for loop current control systems or Control input for loop current control systems ; N represents the step length, N is a positive integer; express Sampling time Error Control Gain Matrix of Loop Current Control System or Error Control Gain Matrix of Loop Current Control System , the dimension of the error control gain matrix is ; , L Take an integer between 3 and 5, express Sampling time Current prediction error vector of loop current control system or Current prediction error vector of loop current control system ; ; express Sampling time Reference current vector of loop current control system or Reference current vector of loop current control system , express Sampling time Component reference current or Component reference current ; express Sampling time Component current or Component current ; Represents a vector of all 1s.

[0093] According to the current prediction control method of a co-phase power supply device based on error differentiation provided by the present invention, the step (5) of constructing a performance optimization objective function and solving the objective function using a gradient descent method, and optimizing and updating the error control gain matrix in the step (4) include the following steps:

[0094] Step (5.1): Construct the following performance optimization objective function with error differential characteristics:

[0095] ;

[0096] in, represents the sampling time, represents the performance optimization objective function; express Sampling time Reference current vector of loop current control system or Reference current vector of loop current control system ; express The current prediction vector at the sampling time, N represents the step length, N is a positive integer; represents the error differential characteristic limiting factor, ; express Sampling time Current prediction error vector of loop current control system or Current prediction error vector of loop current control system ; express Sampling time Component current or Component current ; represents a vector of all 1s; express Sampling time First-order forward difference of the predictive control input vector of the loop current control system or First-order forward difference of the predictive control input vector of the loop current control system , express Sampling time Control input for loop current control systems or Control input for loop current control systems , ; represents the control time domain constant, is a positive integer; represents the penalty factor, ;

[0097] Step (5.2): Use the gradient descent method to solve the objective function described in step (5.1) and optimize the updated error control gain matrix:

[0098] First, calculate the performance optimization objective function The Jacobian matrix for the error control gain matrix is,

[0099] ;

[0100] in, , ; , express Sampling time Predictive control input vector for loop current control system or Predictive control input vector for loop current control system ; express Sampling time Pseudo-partial derivative matrix of loop current control system or Pseudo-partial derivative matrix of loop current control system ;

[0101] Optimize and update the error control gain matrix,

[0102] ;

[0103] in, To learn the law, express Sampling time Error Control Gain Matrix of Loop Current Control System or Error Control Gain Matrix of Loop Current Control System , the dimension of the error control gain matrix is .

[0104] Figure 2 A schematic diagram of the connection modules of the current prediction control system of the same-phase power supply device based on error differentiation provided by the present invention is given; Figure 3 A connection diagram of a controller module of a current prediction control system for a co-phase power supply device based on error differentiation provided by the present invention is given; the present invention also provides a current prediction control system for a co-phase power supply device based on error differentiation, comprising:

[0105] Data acquisition conversion module, used to collect the input voltage of the same-phase power supply device and input current , for the input voltage conduct Transformation Component voltage and Component voltage , for the input current conduct Transformation Component current and Component current , collect the reference current of the same-phase power supply device , ;

[0106] A controller module, including a prediction data model establishment submodule, a pseudo partial derivative matrix update submodule, a prediction control scheme calculation submodule, and a control scheme update submodule;

[0107] The prediction data model establishment submodule is used to establish a prediction data model for the current control system of the same-phase power supply device. The current control system includes Loop current control system and Loop current control system; the prediction data model includes a pseudo partial derivative matrix;

[0108] The pseudo partial derivative matrix updating submodule is used to construct a cost function and solve the cost function using a function extremum method to optimize and update the pseudo partial derivative matrix;

[0109] The predictive control scheme calculation submodule is used to design a model-free adaptive predictive control scheme based on error differentiation for the current control system of the same-phase power supply device. The predictive control scheme includes an error control gain matrix, which is calculated to obtain Control input for loop current control systems and Control input for loop current control systems ;

[0110] The control scheme updating submodule is used to construct a performance optimization objective function and solve the objective function using a gradient descent method, and optimize and update the error control gain matrix in the prediction control scheme calculation submodule;

[0111] The execution module is used to calculate the error control gain matrix based on the error differential model-free adaptive predictive control scheme in the predictive control scheme calculation submodule based on the optimized updated error control gain matrix. Loop current control system and The predictive control input vector of the loop current control system is Loop current control system and The first element of the predictive control input vector of the loop current control system and ,Will , Respectively , Add and then After the transformation, a modulation waveform is generated, and finally after PWM modulation, an on / off signal for controlling the same-phase power supply device is generated.

[0112] Furthermore, the present invention adopts the following technical solutions:

[0113] A non-transitory computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned error differential-based current prediction control method for a common-phase power supply device.

[0114] Furthermore, the present invention adopts the following technical solutions:

[0115] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the current prediction and control method of a common-phase power supply device based on error differentiation as described above is implemented.

[0116] Through the description of the above embodiments, it can be clearly understood by those skilled in the art that the facilities of the present invention can be implemented by means of software plus the necessary general hardware platform. The embodiments of the present invention can be implemented using an existing processor, or by a dedicated processor used for this purpose or other purposes for an appropriate system, or by a hard-wired system. The embodiments of the present invention also include non-transitory computer-readable storage media, which include machine-readable media for carrying or having machine-executable instructions or data structures stored thereon; such machine-readable media can be any available medium that can be accessed by a general or special-purpose computer or other machine with a processor. For example, such machine-readable media can include RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store the required program code in the form of machine-executable instructions or data structures, and can be accessed by a general or special-purpose computer or other machine with a processor. When information is transmitted or provided to a machine via a network or other communication connection (hard-wired, or wireless, or a combination of hard-wired and wireless), the connection is also considered a machine-readable medium.

[0117] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A current prediction control method for a co-phase power supply device based on error differentiation, characterized in that: The following steps are involved: Step (1): Collect the input voltage u and input current i of the same-phase power supply device, and perform αβ-dq transformation on the input voltage u to obtain the d component voltage u d and the q component voltage u q , the input current i is transformed into d component current i by αβ-dq d and the q component current i q , collect the reference current of the same-phase power supply device Step (2): Establish a prediction data model for the current control system of the same-phase power supply device, wherein the current control system includes i d Loop current control system and i q In a loop current control system, the prediction data model includes a pseudo partial derivative matrix; Step (3): construct a cost function and solve the cost function using the function extremum method, and optimize and update the pseudo partial derivative matrix in step (2); Step (4): Design a model-free adaptive predictive control scheme based on error differentiation for the current control system of the co-phase power supply device, wherein the predictive control scheme includes an error control gain matrix, and calculates i d The control input v of the loop current control system d (k) and i q The control input v of the loop current control system q (k); Step (5): construct a performance optimization objective function and solve the objective function using the gradient descent method to optimize and update the error control gain matrix in step (4); Step (6): Based on the error control gain matrix optimized and updated in step (5), the model-free adaptive predictive control scheme based on error differential described in step (4) is used to calculate i d Loop current control system and i q The predictive control input vector of the loop current control system is i d Loop current control system and i q The first element v of the predictive control input vector of the loop current control system d and v q , v d 、v q Respectively with u d 、u q The sum is then generated after dq-αβ transformation to generate a modulation waveform, and finally after PWM modulation to generate a disconnection signal for controlling the same-phase power supply device; Repeat the above steps (1) to (6) until the control task is completed; The current control system of the same-phase power supply device described in step (4) is designed with a model-free adaptive predictive control scheme based on error differentiation. The mathematical formula of the control scheme is: Where k represents the sampling time, represents k sampling time i d Predictive control input vector for loop current control system or q Predictive control input vector for loop current control system v x (k) represents the k sampling time i d The control input v of the loop current control system d (k) or i q The control input v of the loop current control system q (k); N represents the step length, N is a positive integer; ψ x (k) represents the k sampling time i d The error control gain matrix ψ of the loop current control system d (k) or i q The error control gain matrix ψ of the loop current control system q (k), the dimension of the error control gain matrix is ​​N×(N×L); L is an integer between 3 and 5. represents k sampling time i d Current prediction error vector of loop current control system or q Current prediction error vector of loop current control system represents k sampling time i d Reference current vector of loop current control system or q Reference current vector of loop current control system Represents the d-component reference current at the k sampling moment Or q component reference current i x (k) represents the d component current i at sampling time k d (k) or q component current i q (k); G = [1,…,1] T Represents a vector of all 1s.

2. The current prediction control method for a co-phase power supply device based on error differentiation according to claim 1 is characterized in that: The step (2) of establishing a prediction data model for the current control system of the same-phase power supply device, wherein the current control system includes i d Loop current control system and i q Loop current control system, the prediction data model is established as follows: Where k represents the sampling time, represents the current prediction vector at the k+1 sampling time, N represents the step size, and N is a positive integer; i x (k+1) represents the d-component current i at the k+1 sampling time d (k+1) or q component current i q (k+1); G = [1,…,1] T represents a vector of all 1s; represents k sampling time i d Pseudo partial derivative matrix A of loop current control system d (k) or i q Pseudo partial derivative matrix A of loop current control system q (k), the dimension of the matrix is ​​N×N, φ x (k) represents the k sampling time i d Pseudo partial derivative variable φ of loop current control system d (k) or i q Pseudo partial derivative variable φ of loop current control system q (k); N u Represents the control time domain constant, N u is a positive integer; represents k sampling time i d First-order forward difference of the predictive control input vector of the loop current control system or q First-order forward difference of the predictive control input vector of the loop current control system v x (k) represents the k sampling time i d The control input v of the loop current control system d (k) or i q The control input v of the loop current control system q (k), Δv x (k) = v x (k)-v x (k-1).

3. The current prediction control method for a co-phase power supply device based on error differentiation according to claim 1, characterized in that: The step (3) of constructing a cost function and solving the cost function using a function extremum method, and optimizing and updating the pseudo partial derivative matrix in the step (2), comprises the following steps: Step (3.1): Construct the following cost function: J(φ x (k))=(i x (k)-i x (k-1)-φ x (k)Δv x (k-1)) 2 +μΔφ x (k) 2 ; Where k represents the sampling time, J(·) represents the function; φ x (k) represents the k sampling time i d Pseudo partial derivative variable φ of loop current control system d (k) or i q Pseudo partial derivative variable φ of loop current control system q (k), Δφ x (k) = φ x (k)-φ x (k-1); i x (k) represents the d component current i at sampling time k d (k) or q component current i q (k); v x (k) represents the k sampling time i d The control input v of the loop current control system d (k) or i q The control input v of the loop current control system q (k), Δv x (k-1)=v x (k-1)-v x (k-2); μ represents the limiting factor; The cost function is solved by the function extreme value method to obtain the pseudo partial derivative variable φ at the k sampling time x The update law of (k) is: Where χ represents the step size factor of the pseudo partial derivative variable; Step (3.2): Based on the pseudo partial derivative variable φ at the k sampling time x (k) update law, calculate the pseudo partial derivative variable φ at the k+j sampling time x Update law for (k+j), j=1,…,N-1: f x (k+j)=γ1(k)φ x (k+j-1)+γ2(k)φ x (k+j-2)+…+γ n (k)φ x (k+jn); Wherein, N represents the step size, which is a positive integer; n represents the order, which is an integer between 2 and 7; Define variable γ(k)=[γ1(k), γ2(k),…,γ n (k)], the calculation formula of γ(k) is as follows: in, δ is a positive number, δ∈(0,1]; ||·|| represents the 2-norm; Based on the pseudo partial derivative variable φ at k sampling time x (k) update law, the pseudo partial derivative variable φ at sampling time k+j x (k+j) update law, optimizing the update of the pseudo partial derivative matrix described in step (2).

4. The current prediction control method for a co-phase power supply device based on error differentiation according to claim 1, characterized in that: The step (5) of constructing a performance optimization objective function and solving the objective function using a gradient descent method, and optimizing and updating the error control gain matrix in the step (4), comprises the following steps: Step (5.1): Construct the following performance optimization objective function with error differential characteristics: Where k represents the sampling time, and J represents the performance optimization objective function; represents k+1 sampling time i d Reference current vector of loop current control system or q Reference current vector of loop current control system represents the current prediction vector at the k+1 sampling time, N represents the step size, N is a positive integer; γ represents the error differential characteristic limiting factor, γ>0; represents the k sampling time i d Current prediction error vector of loop current control system or q Current prediction error vector of loop current control system i x (k) represents the d component current i at sampling time k d (k) or q component current i q (k); G = [1,…,1] T represents a vector of all 1s; represents k sampling time i d First-order forward difference of the predictive control input vector of the loop current control system or q First-order forward difference of the predictive control input vector of the loop current control system v x (k) represents the k sampling time i d The control input v of the loop current control system d (k) or i q The control input v of the loop current control system q (k), Δv x (k) = v x (k)-v x (k-1); N u Represents the control time domain constant, N u is a positive integer; λ represents the penalty factor, λ>0; Step (5.2): Use the gradient descent method to solve the objective function described in step (5.1) and optimize the updated error control gain matrix: First, the Jacobian matrix of the performance optimization objective function J for the error control gain matrix is ​​calculated, in, represents k sampling time i d Predictive control input vector for loop current control system or q Predictive control input vector for loop current control system A x (k) represents the k sampling time i d Pseudo partial derivative matrix A of loop current control system d (k) or i q Pseudo partial derivative matrix A of loop current control system q (k); Optimize and update the error control gain matrix, Among them, η is the learning law, ψ x (k) represents the k sampling time i d The error control gain matrix ψ of the loop current control system d (k) or i q The error control gain matrix ψ of the loop current control system q (k), the dimension of the error control gain matrix is ​​N×(N×L).

5. A current prediction control system for a co-phase power supply device based on error differentiation, characterized in that: include: The data acquisition and transformation module is used to collect the input voltage u and input current i of the same-phase power supply device, and perform αβ-dq transformation on the input voltage u to obtain the d component voltage u d and the q component voltage u q , the input current i is transformed into d component current i by αβ-dq d and the q component current i q , collect the reference current of the same-phase power supply device A controller module, including a prediction data model establishment submodule, a pseudo partial derivative matrix update submodule, a prediction control scheme calculation submodule, and a control scheme update submodule; The prediction data model establishment submodule is used to establish a prediction data model for the current control system of the same-phase power supply device. The current control system includes i d Loop current control system and i q Loop current control system; the prediction data model includes a pseudo partial derivative matrix; The pseudo partial derivative matrix updating submodule is used to construct a cost function and solve the cost function using a function extremum method to optimize and update the pseudo partial derivative matrix; The predictive control scheme calculation submodule is used to design a model-free adaptive predictive control scheme based on error differentiation for the current control system of the same-phase power supply device. The predictive control scheme includes an error control gain matrix, and the calculated i d The control input v of the loop current control system d (k) and i q The control input v of the loop current control system q (k); The control scheme updating submodule is used to construct a performance optimization objective function and solve the objective function using a gradient descent method, and optimize and update the error control gain matrix in the prediction control scheme calculation submodule; The execution module is used to calculate i based on the error control gain matrix after optimization and update by using the model-free adaptive predictive control scheme based on error differential in the predictive control scheme calculation submodule d Loop current control system and i q The predictive control input vector of the loop current control system is i d Loop current control system and i q The first element v of the predictive control input vector of the loop current control system d and v q , v d 、v q Respectively with u d 、u q The sum is then generated after dq-αβ transformation to generate a modulation waveform, and finally after PWM modulation to generate a disconnection signal for controlling the same-phase power supply device; The current control system of the co-phase power supply device is designed with a model-free adaptive predictive control scheme based on error differentiation. The mathematical formula of the control scheme is: Where k represents the sampling time, represents k sampling time i d Predictive control input vector for loop current control system or q Predictive control input vector for loop current control system v x (k) represents the k sampling time i d The control input v of the loop current control system d (k) or i q The control input v of the loop current control system q (k); N represents the step length, N is a positive integer; ψ x (k) represents the k sampling time i d The error control gain matrix ψ of the loop current control system d (k) or i q The error control gain matrix ψ of the loop current control system q (k), the dimension of the error control gain matrix is ​​N×(N×L); L is an integer between 3 and 5. represents k sampling time i d Current prediction error vector of loop current control system or q Current prediction error vector of loop current control system represents k sampling time i d Reference current vector of loop current control system or q Reference current vector of loop current control system Represents the d-component reference current at the k sampling moment Or q component reference current i x (k) represents the d component current i at sampling time k d (k) or q component current i q (k); G = [1,…,1] T Represents a vector of all 1s.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the current prediction control method of a common-phase power supply device based on error differentiation as described in any one of claims 1 to 4 is implemented.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the current prediction control method of the same-phase power supply device based on error differentiation as described in any one of claims 1 to 4 is implemented.

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