Dead-beat predictive current control method of permanent magnet synchronous motor and computer equipment

Abstract

The invention relates to the technical field of motor control, and discloses a dead-beat predictive current control method of a permanent magnet synchronous motor, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: establishing a current state equation of the three-phase permanent magnet synchronous motor when motor parameters are mismatched; according to a current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched, determining a d-q axis current estimated by the extended state observer and total disturbance on a current loop, and calculating to obtain a compensation voltage; applying linear active disturbance rejection control to a speed ring, and outputting a linear error feedback control law by the speed ring; based on a linear error feedback control law and d-q axis current estimated by an extended state observer, applying an improved dead-beat predictive current control mode to a current loop to obtain an iterative voltage; and taking the sum of the iteration voltage and the compensation voltage as a reference voltage. By adopting the method, various interferences in a speed loop and a current loop can be effectively relieved, and the robustness of a control system is improved.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and more specifically, to a permanent magnet synchronous motor zero-beat predictive current control method, computer equipment, computer-readable storage medium, and computer program product. Background Art

[0002] Permanent-magnet synchronous motor (PMSM) is a synchronous motor that uses permanent magnets to establish an excitation magnetic field. Its stator generates a rotating magnetic field and its rotor is made of permanent magnet material. As a highly efficient and energy-saving drive motor, permanent-magnet synchronous motors have been widely used in industrial production, transportation and other fields. As an advanced motor control method, deadbeat predictive current control can effectively improve the dynamic response speed and operating stability of the motor and reduce energy loss. Therefore, it has important application prospects in the control of permanent-magnet synchronous motors.

[0003] The current deadbeat predictive current control method applied to permanent magnet synchronous motors only considers a single disturbance and cannot be applied to the multi-disturbance environment of permanent magnet synchronous motors. It cannot suppress disturbances on the current loop and speed loop, and thus cannot improve the robustness of the permanent magnet synchronous motor control system. Summary of the invention

[0004] In order to solve the above-mentioned problems, the present invention provides a permanent magnet synchronous motor zero-beat predictive current control method, computer equipment, computer-readable storage medium and computer program product, which will effectively alleviate various interferences in the speed loop and the current loop and improve the robustness of the permanent magnet synchronous motor control system.

[0005] To achieve the above object, according to a first aspect of the present invention, a method for deadbeat predictive current control of a permanent magnet synchronous motor is provided, the method comprising:

[0006] The dq axis current is selected as the state variable, and the current state equation of the three-phase permanent magnet synchronous motor is established when the motor parameters are mismatched. The motor parameters include the stator resistance, stator inductance and permanent magnet flux linkage. The current state equation includes the total disturbance on the dq axis caused by the motor parameter mismatch.

[0007] An extended state observer applied to the current loop is constructed. According to the current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched, the dq axis current estimated by the extended state observer and the total disturbance on the current loop are determined, and the compensation voltage is calculated.

[0008] Apply linear anti-disturbance control to the speed loop, and the speed loop outputs a linear error feedback control law;

[0009] Based on the linear error feedback control law and the dq axis current estimated by the extended state observer, the improved deadbeat predictive current control method is applied to the current loop, a new cost function is constructed and converted into a quadratic optimization problem, and the iterative voltage is obtained using the Newton iteration method.

[0010] The sum of the iterative voltage and the compensation voltage is used as a reference voltage, and the reference voltage is input into a space vector pulse width modulation module to obtain a control signal of the inverter, which is used to control the operating state of the three-phase permanent magnet synchronous motor.

[0011] Furthermore, an extended state observer applied to the current loop is constructed, and according to the current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched, the dq axis current estimated by the extended state observer and the total disturbance on the current loop are determined, and the compensation voltage is calculated, including constructing an extended state observer applied to the current loop; according to the current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched, the dq axis current estimated by the extended state observer and the total disturbance on the current loop are determined; the dq axis current estimated by the extended state observer and the total disturbance on the current loop are discretized respectively; and the compensation voltage is calculated according to the total disturbance on the current loop estimated by the discretized extended state observer.

[0012] Furthermore, linear anti-disturbance control is applied to the speed loop, and the speed loop outputs a linear error feedback control law, including selecting the mechanical angular velocity of the three-phase permanent magnet synchronous motor as a variable, and establishing the motion equation of the three-phase permanent magnet synchronous motor when considering the disturbance; according to the motion equation, determining the mechanical angular velocity estimated by the linear state observer and the total disturbance on the speed loop; discretizing the mechanical angular velocity estimated by the linear state observer and the total disturbance on the speed loop respectively; according to the mechanical angular velocity estimated by the discretized linear state observer and the total disturbance on the speed loop, calculating the linear error feedback control law, and the linear error feedback control law is positively correlated with the closed-loop bandwidth of the speed loop.

[0013] Furthermore, the mechanical angular velocity of the three-phase permanent magnet synchronous motor is selected as a variable, and the motion equation of the three-phase permanent magnet synchronous motor considering the disturbance is established, including Among them, ω m is the mechanical angular velocity of the three-phase permanent magnet synchronous motor, Yes m The derivative of n is the pole pair number, J is the moment of inertia, ψ f is the permanent magnet flux, f s is the total disturbance on the velocity loop.

[0014] Furthermore, according to the total disturbance on the mechanical angular velocity and the velocity loop estimated by the discretized linear state observer, the linear error feedback control law is calculated, including the equation of motion being changed to:

[0015]

[0016] Where z1 represents the mechanical angular velocity estimated by the linear state observer, z2 is the total disturbance on the velocity loop estimated by the linear state observer, β1 and β2 are the gains of the linear state observer; after discretization, we get:

[0017]

[0018] The linear error feedback control law is calculated as:

[0019]

[0020] Among them, K p is the closed-loop bandwidth of the speed loop.

[0021] Furthermore, based on the linear error feedback control law and the dq axis current estimated by the extended state observer, an improved zero-beat predictive current control method is applied to the current loop, a new cost function is constructed and converted into a quadratic optimization problem, and the iterative voltage is obtained by the Newton iteration method, including constructing a new cost function based on the linear error feedback control law and the dq axis current estimated by the extended state observer, and the new cost function satisfies the current amplitude constraint and the voltage amplitude constraint; according to the voltage amplitude constraint, the new cost function is converted into a quadratic optimization problem; based on the inversion of the Hessian matrix of the new cost function, the Newton iteration method is used to perform online solution at each time step to obtain the iterative voltage.

[0022]

[0023] Construct a new cost function, including Among them, u dq (k+1)=[u d (k+1)u q (k+1)] T , σ(k+1)=[σ1(k+1)σ2(k+1)], ρ=T s / L s , σ(k+1) is a time-varying constant matrix, expressed as follows:

[0024]

[0025] Among them, R s , L s Respectively represent the stator resistance and stator inductance, ω e , f are the rotor electrical angular velocity and permanent magnet flux, T s is the sampling time of the discretization process, is the linear error feedback control law, z 1d 、z 1q are the d-axis and q-axis currents estimated by the extended state observer, respectively.

[0026] According to a second aspect of the present invention, there is also provided a computer device, which includes a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of any one of the above methods.

[0027] According to a third aspect of the present invention, there is also provided a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0028] According to a fourth aspect of the present invention, there is also provided a computer program product, comprising a computer program, which implements the steps of any of the above methods when executed by a processor.

[0029] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0030] In a method for deadbeat predictive current control of a permanent magnet synchronous motor provided by the present invention, the speed loop uses linear anti-disturbance control to effectively suppress the non-periodic and periodic interferences generated during the operation of the three-phase permanent magnet synchronous motor; the current loop uses an improved deadbeat predictive current control method to construct a new cost function and convert it into a quadratic optimization problem, and uses Newton iteration to obtain the iterative voltage, so that the control accuracy is greatly improved. In addition, in order to solve the model dependency problem in the current loop, an extended state observer is used to compensate for the interference caused by parameter mismatch. Therefore, the method can effectively alleviate various interferences in the speed loop and the current loop, thereby improving the robustness of the entire permanent magnet synchronous motor control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A flow chart of a method for deadbeat predictive current control of a permanent magnet synchronous motor provided in an embodiment of the present application;

[0033] Figure 2 A block diagram of a deadbeat predictive current control for a permanent magnet synchronous motor provided in an embodiment of the present application;

[0034] Figure 3 A structural block diagram of an extended state observer provided in an embodiment of the present application;

[0035] Figure 4 A block diagram of the linear active disturbance rejection control provided in an embodiment of the present application;

[0036] Figure 5 A control block diagram of a two-level inverter permanent magnet synchronous motor provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of a basic voltage vector of a two-level inverter provided in an embodiment of the present application;

[0038] Figure 7 A schematic diagram of the internal structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] The terms "first", "second", "third", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0041] like Figure 1 As shown, a method for zero-beat predictive current control of a permanent magnet synchronous motor is provided, which can be executed by a terminal or by a server communicating with the terminal through a network. The terminal can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, etc. The server can be an independent server, or a server cluster composed of multiple servers can be used to implement it. Taking the application of the method to a terminal as an example, the method includes the following steps:

[0042] Step 101, select dq axis current as a state variable, and establish a current state equation of a three-phase permanent magnet synchronous motor when motor parameters are mismatched. The motor parameters include stator resistance, stator inductance and permanent magnet flux linkage. The current state equation includes the total disturbance on the dq axis caused by the motor parameter mismatch.

[0043] Step 102, construct an extended state observer applied to the current loop, determine the dq axis current estimated by the extended state observer and the total disturbance on the current loop according to the current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched, and calculate the compensation voltage.

[0044] Exemplarily, an extended state observer applied to a current loop is constructed; based on the current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched, the dq-axis current estimated by the extended state observer and the total disturbance on the current loop are determined; the dq-axis current and the total disturbance on the current loop estimated by the extended state observer are discretized respectively; and a compensation voltage is calculated based on the total disturbance on the current loop estimated by the discretized extended state observer.

[0045] Step 103: Apply linear active disturbance rejection control to the speed loop, and the speed loop outputs a linear error feedback control law.

[0046] Exemplarily, the mechanical angular velocity of the three-phase permanent magnet synchronous motor is selected as a variable, and the motion equation of the three-phase permanent magnet synchronous motor is established when the disturbance is considered; according to the motion equation, the mechanical angular velocity estimated by the linear state observer and the total disturbance on the speed loop are determined; the mechanical angular velocity estimated by the linear state observer and the total disturbance on the speed loop are discretized respectively; according to the mechanical angular velocity estimated by the discretized linear state observer and the total disturbance on the speed loop, a linear error feedback control law is calculated, and the linear error feedback control law is positively correlated with the closed-loop bandwidth of the speed loop.

[0047] Step 104, based on the linear error feedback control law and the dq axis current estimated by the extended state observer, the improved deadbeat predictive current control method is applied to the current loop, a new cost function is constructed and converted into a quadratic optimization problem, and the iterative voltage is obtained using the Newton iteration method.

[0048] Step 105, taking the sum of the iteration voltage and the compensation voltage as a reference voltage, inputting the reference voltage into a space vector pulse width modulation module, and obtaining a control signal of the inverter, wherein the control signal is used to control the operating state of the three-phase permanent magnet synchronous motor.

[0049] In the above-mentioned deadbeat predictive current control method for permanent magnet synchronous motor, robust control technology is adopted in both the speed loop and the current loop, which enhances the robustness of control system parameters, improves the anti-disturbance capability of the permanent magnet synchronous motor control system, and realizes the precise control of the permanent magnet synchronous motor under multi-disturbance environment. Specifically, the speed loop uses the linear auto-disturbance rejection control (LADRC) method to effectively suppress the non-periodic and periodic interferences generated during the operation of the three-phase permanent magnet synchronous motor; the current loop adopts an improved deadbeat predictive current control method, constructs a new cost function and converts it into a quadratic optimization problem, and adopts the Newton iteration method to obtain the iterative voltage, so that the control accuracy is greatly improved. In addition, in order to solve the model dependency problem in the current loop, the embodiment adopts the extended state observer (ESO) to compensate for the interference caused by parameter mismatch. Therefore, the method can effectively alleviate various interferences in the speed loop and the current loop, thereby improving the robustness of the entire permanent magnet synchronous motor control system.

[0050] In one embodiment, Figure 2 As shown, a method for zero-beat predictive current control of a permanent magnet synchronous motor comprises the following steps:

[0051] Step 1, establish the current state equation of the three-phase permanent magnet synchronous motor:

[0052] Step 1.1, first, taking the surface-mounted permanent magnet synchronous motor as an example, select the dq axis current as the state variable and establish the current state equation of the three-phase permanent magnet synchronous motor:

[0053]

[0054] Among them, x dq (t) = [i d i q ] T ,u dq (t)=[u d u q ] T , E dq (t) = [0-ω e ψ f / L s ] T , i d 、i q 、u d and u q are the current and voltage components in the dq coordinate system, R s , L s Respectively represent the stator resistance and stator inductance, ω e , f are the rotor electrical angular velocity and permanent magnet flux, ωe It can be considered as a constant in steady state.

[0055] Step 1.2, considering the parameter mismatch, the motor parameters are redefined as follows:

[0056]

[0057] Among them, R s , L s , f are nominal values, R s1 , L s1 , f1 are the true values ​​respectively.

[0058] Then the redefined motor parameters R s1 , L s1 , f1 Substitute into the current state equation of the permanent magnet synchronous motor.

[0059] Step 1.3, when considering parameter mismatch, the current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched is obtained, that is, the state equation (1) can be rewritten as:

[0060]

[0061] Among them, f dq (t) = [f d (t)f q (t)] T , f d (t) and f q (t) represent the total disturbance on dq axis caused by motor parameter mismatch.

[0062] Step 2: construct an extended state observer (ESO) applied to the current loop to observe and compensate for disturbances.

[0063] Figure 3 This is a structural block diagram of an extended state observer provided in an embodiment of the present application, which shows the working principle of the extended state observer.

[0064] Step 2.1, according to the state space equation (2) under parameter mismatch and the characteristics of the extended state observer, the following expression can be obtained:

[0065]

[0066] Among them, e rror represents the estimation error of the dq axis current, z 1dq (t) represents the dq-axis current estimated by the extended state observer, z2dq (t) represents the total disturbance f on the current loop estimated by the extended state observer dq (t); c1 and c2 are the gains of the extended state observer. According to the bandwidth allocation method, ω c is the ideal bandwidth of the extended state observer.

[0067] Step 2.2: When using the extended state observer in the permanent magnet synchronous motor drive system, discretization must be performed, that is, according to the above expression (3), it can be obtained:

[0068]

[0069] Among them, T s is the sampling time of the discretization process.

[0070] Step 2.3, the total disturbance z on the current loop estimated by the extended state observer 2dq (k+1), the compensation voltage can be calculated:

[0071]

[0072] in, is the compensation voltage at time k+1, B -1 (k+1) is a constant matrix whose value refers to B(t) in step 1.1.

[0073] Step 3: Apply Linear Active Disturbance Rejection Control (LADRC) based on the total disturbance rejection method to the speed loop.

[0074] Figure 4 The structural block diagram of the linear active disturbance rejection control provided in the embodiment of the present application has two parts: a linear state observer and a linear error feedback control law.

[0075] Step 3.1, the motion equation of the three-phase permanent magnet synchronous motor considering the disturbance is:

[0076]

[0077] Among them, ω m is the mechanical angular velocity of the three-phase permanent magnet synchronous motor, Yes m The derivative of n is the pole pair number, J is the moment of inertia, ψ f is the permanent magnet flux, f s is the total disturbance on the velocity loop.

[0078] Step 3.2, according to the linear active disturbance rejection control, the motion equation (6) can be rewritten as:

[0079]

[0080] Where z1 represents the mechanical angular velocity estimated by the linear state observer, z2 is the total disturbance on the velocity loop estimated by the linear state observer, and β1 and β2 are the gains of the linear state observer.

[0081] After discretizing the above motion equation (7), we can obtain:

[0082]

[0083] The linear error feedback control law is calculated as:

[0084]

[0085] Among them, K p is the closed-loop bandwidth of the speed loop.

[0086] Step 4: Apply the improved deadbeat predictive current control method to the current loop and use iterative technology to obtain the reference voltage.

[0087] Step 4.1, in order to ensure the effective tracking of the desired trajectory, the cost function after one-step delay compensation (i.e., the new cost function) can be selected as:

[0088]

[0089] Among them, u dq (k+1)=[u d (k+1)u q (k+1)] T , that is u dq (k+1) is [u d (k+1)u q (k+1)]; σ(k+1)=[σ1(k+1)σ2(k+1)], ρ=T s / L s , σ(k+1) is a time-varying constant matrix, expressed as follows:

[0090]

[0091] Among them, R s , L s Respectively represent the stator resistance and stator inductance, ω e , f are the rotor electrical angular velocity and permanent magnet flux, T s is the sampling time of the discretization process, is the linear error feedback control law expressed by the above formula (9); 1d 、z 1q are the d-axis and q-axis currents estimated by the extended state observer represented by the above formula (4).

[0092] Step 4.2, to ensure safety, the current amplitude should always be smaller than the boundary value:

[0093]

[0094] According to the current amplitude limit condition and the motor voltage equation, the magnitude of the dq axis input voltage also follows the constraint condition (i.e., the voltage amplitude constraint condition):

[0095]

[0096] Step 4.3, according to the linear constraint of input voltage, the new cost function can be transformed into a quadratic optimization problem. Based on the inversion of Hessian matrix, the Newton iteration method is used to perform online solution at each time step to obtain the iterative voltage (vector):

[0097]

[0098] Where L is the number of iterations, μ∈(0,1] is a weighting coefficient that can enhance the stability of the algorithm; H is the function g opt The Hessian matrix of .

[0099] The iterative voltage can be simplified to:

[0100]

[0101] When the algorithm meets the following conditions, the iteration stops and outputs the appropriate voltage. The convergence criteria of the algorithm are:

[0102]

[0103] Step 4.4, based on the sum of the iterative voltage and the compensation voltage calculated in step 1, the final output voltage (i.e., reference voltage) can be obtained:

[0104]

[0105] Figure 2This is the overall block diagram of the deadbeat predictive current control method for permanent magnet synchronous motors. It can be seen that the final output voltage is input to the space vector pulse width modulation module (Space Vector Pulse Width Modulation, referred to as SVPWM) to obtain the control signal of the inverter. The control signal of the inverter is used to control the connection or disconnection of the inverter, thereby controlling the operating state of the three-phase permanent magnet synchronous motor. Figure 5 and Figure 6 , Figure 5 The control block diagram of the two-level inverter for the three-phase permanent magnet synchronous motor is shown. Figure 6 A basic voltage vector schematic diagram of a two-level inverter is shown. The operating state of the three-phase permanent magnet synchronous motor is controlled by using different basic voltages of the two-level inverter.

[0106] The embodiment of the present application provides a method for deadbeat predictive current control of a permanent magnet synchronous motor, which provides an efficient, accurate and stable solution for controlling a three-phase permanent magnet synchronous motor in a multi-disturbance environment. The speed loop uses linear anti-disturbance control to effectively suppress non-periodic and periodic disturbances, enhances the robustness of system parameters and the anti-disturbance capability of the system. The current loop adopts an improved deadbeat predictive current control method, and uses iterative technology to obtain the reference voltage, so that the control accuracy is greatly improved.

[0107] The present application also provides a computer device, the internal structure diagram of which can be as follows: Figure 7 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for predictive current control of a permanent magnet synchronous motor without a beat is implemented.

[0108] Those skilled in the art will understand that Figure 7The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0109] like Figure 7 As shown, the present application also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps in the above-mentioned method embodiments.

[0110] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0111] The present application also provides a computer program product, including a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0112] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0113] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0114] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

[0115] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] It will be easily understood by those skilled in the art that 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 and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a permanent magnet synchronous motor current without a beat prediction, characterized in that: include: Selecting dq axis current as a state variable, establishing a current state equation of a three-phase permanent magnet synchronous motor when motor parameters are mismatched, wherein the motor parameters include stator resistance, stator inductance and permanent magnet flux linkage, and the current state equation includes a total disturbance on the dq axis caused by motor parameter mismatch; Constructing an extended state observer applied to the current loop, determining the dq axis current estimated by the extended state observer and the total disturbance on the current loop according to the current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched, and calculating the compensation voltage; Apply linear anti-disturbance control to the speed loop, and the speed loop outputs a linear error feedback control law; Based on the linear error feedback control law and the dq axis current estimated by the extended state observer, an improved deadbeat predictive current control method is applied to the current loop, a new cost function is constructed and converted into a quadratic optimization problem, and an iterative voltage is obtained by using a Newton iteration method; The sum of the iterative voltage and the compensation voltage is used as a reference voltage, and the reference voltage is input into a space vector pulse width modulation module to obtain a control signal of an inverter, and the control signal is used to control the operating state of the three-phase permanent magnet synchronous motor.

2. The method according to claim 1, characterized in that The construction of an extended state observer applied to the current loop determines the dq axis current estimated by the extended state observer and the total disturbance on the current loop according to the current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched, and calculates the compensation voltage, including: Construct an extended state observer applied to the current loop; Determine the dq axis current estimated by the extended state observer and the total disturbance on the current loop according to the current state equation of the three-phase permanent magnet synchronous motor when the motor parameters are mismatched; Discretizing the dq axis current and the total disturbance on the current loop estimated by the extended state observer respectively; The compensation voltage is calculated based on the total disturbance on the current loop estimated by the discretized extended state observer.

3. The method according to claim 1, characterized in that The linear anti-disturbance control is applied to the speed loop, and the speed loop outputs a linear error feedback control law, including: The mechanical angular velocity of the three-phase permanent magnet synchronous motor is selected as a variable, and the motion equation of the three-phase permanent magnet synchronous motor is established when considering disturbance; Determining a mechanical angular velocity estimated by a linear state observer and a total disturbance on a velocity loop based on the equation of motion; Discretizing the mechanical angular velocity estimated by the linear state observer and the total disturbance on the velocity loop respectively; According to the mechanical angular velocity estimated by the discretized linear state observer and the total disturbance on the speed loop, a linear error feedback control law is calculated, and the linear error feedback control law is positively correlated with the closed-loop bandwidth of the speed loop.

4. The method according to claim 3, characterized in that The mechanical angular velocity of the three-phase permanent magnet synchronous motor is selected as a variable, and the motion equation of the three-phase permanent magnet synchronous motor is established when considering disturbance, including: Among them, ω m is the mechanical angular velocity of the three-phase permanent magnet synchronous motor, Yes m The derivative of n is the pole pair number, J is the moment of inertia, ψ f is the permanent magnet flux, f s is the total disturbance on the velocity loop.

5. The method according to claim 4, characterized in that The linear error feedback control law is calculated based on the mechanical angular velocity estimated by the discretized linear state observer and the total disturbance on the velocity loop, including: According to the linear active disturbance rejection control, the motion equation is changed to: Where z1 is the mechanical angular velocity estimated by the linear state observer, z2 is the total disturbance on the velocity loop estimated by the linear state observer, β1 and β2 are the gains of the linear state observer; After discretization, we get: The linear error feedback control law is calculated as: Among them, K p is the closed-loop bandwidth of the speed loop.

6. The method according to claim 1, characterized in that Based on the linear error feedback control law and the dq axis current estimated by the extended state observer, an improved deadbeat predictive current control method is applied to the current loop, a new cost function is constructed and converted into a quadratic optimization problem, and an iterative voltage is obtained by using a Newton iteration method, including: Based on the linear error feedback control law and the dq-axis current estimated by the extended state observer, a new cost function is constructed, wherein the new cost function satisfies the current amplitude constraint condition and the voltage amplitude constraint condition; According to the voltage amplitude constraint, the new cost function is converted into a quadratic optimization problem; based on the inversion of the Hessian matrix of the new cost function, a Newton iteration method is used to perform an online solution at each time step to obtain an iterative voltage.

7. The method according to claim 6, characterized in that The method of constructing a new cost function based on the linear error feedback control law and the dq axis current estimated by the extended state observer includes: Among them, u dq (k+1)=[u d (k+1)u q (k+1)] T , σ(k+1)=[σ1(k+1)σ2(k+1)], ρ=T s / L s , σ(k+1) is a time-varying constant matrix, expressed as follows: Among them, Rs and Ls are stator resistance and stator inductance respectively, ω e , f are the rotor electrical angular velocity and permanent magnet flux, respectively, Ts is the sampling time of discretization processing, is the linear error feedback control law, z 1d 、z 1q are the d-axis and q-axis currents estimated by the extended state observer, respectively.

8. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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