Control method and device of permanent magnet linear synchronous motor, electronic equipment and storage medium

Abstract

The invention discloses a control method and device of a permanent magnet linear synchronous motor, electronic equipment and a storage medium. The method comprises the following steps: acquiring operation parameters of the permanent magnet linear synchronous motor according to a preset period; for each period, inputting the operation parameter of the current period into a predetermined state observer to obtain a back electromotive force observation value corresponding to the operation parameter of the current period; for each predetermined candidate voltage vector of the current period, based on the operation parameters, the current candidate voltage, the back electromotive force observation value and a pre-established mathematical model of the permanent magnet linear synchronous motor, obtaining an alpha-beta axis predicted current value corresponding to the current candidate voltage vector of the next period of the current period; and determining an optimal voltage vector based on the alpha-beta axis predicted current values corresponding to all the candidate voltage vectors, and performing driving control on the permanent magnet linear synchronous motor based on the optimal voltage vector. The method has the advantages that the parameter robustness, the parameter disturbance resistance and the motor control precision of the prediction model are improved, and the like.

Description

Technical Field

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

[0002] The permanent magnet linear synchronous motor is a rotating permanent magnet motor that is flattened along the radial direction. It can directly generate thrust in the linear direction, eliminating the intermediate mechanical transmission device. It has many advantages such as small size, simple structure, and easy maintenance. It has been widely used in industrial servo, rail transportation, aerospace and other fields.

[0003] Permanent magnet linear synchronous motors often use methods such as field-oriented control, direct torque control, and model predictive control. Among them, the model predictive control method does not require the current inner loop and its parameter setting and hysteresis regulator. It directly determines the inverter drive signal through the calculation of the value function, does not require pulse width modulation, is easy to handle system constraints or add other control objectives, and has the advantages of simple structure, fast dynamic response, and easy expansion. However, the current model-based permanent magnet linear synchronous motor control method is very sensitive to model parameter mismatch, resulting in poor parameter robustness of the model used to predict the state parameters of the permanent magnet linear synchronous motor (such as αβ axis current, etc.), weak resistance to parameter disturbances, and reduced The performance of the control method of the permanent magnet linear synchronous motor. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a control method, device, electronic device and storage medium for a permanent magnet linear synchronous motor that improves the parameter robustness of a prediction model, the ability to resist parameter disturbances and the control accuracy of a permanent magnet linear synchronous motor control method.

[0005] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0006] A control method for a permanent magnet linear synchronous motor, comprising:

[0007] Acquire the operating parameters of the permanent magnet linear synchronous motor according to a preset cycle, wherein the operating parameters include the actual current of the αβ axis;

[0008] For each cycle, the operating parameters of the current cycle are input into a predetermined state observer to obtain a back electromotive force observation value corresponding to the operating parameters of the current cycle;

[0009] For each candidate voltage vector of the current cycle determined in advance, based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor, the αβ-axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle is obtained;

[0010] An optimal voltage vector is determined based on the αβ-axis predicted current values ​​corresponding to all candidate voltage vectors, and the permanent magnet linear synchronous motor is driven and controlled based on the optimal voltage vector.

[0011] As a further improvement of the above technical solution:

[0012] The operating parameters include the actual current of the αβ axis, the angular velocity, the voltage vector, the inductance and the resistance, and the state observer includes a first equation, a second equation and a third equation; the first equation is used to express the relationship between the voltage vector, the actual current of the αβ axis, the back electromotive force observation value, the intermediate variable observation value, the inductance and the αβ axis observation current; the second equation is used to express the relationship between the angular velocity, the actual current of the αβ axis, the αβ axis observation current, the inductance and the intermediate variable observation value, and the third equation is used to express the relationship between the gain parameter, the actual current of the αβ axis, the αβ axis observation current, the inductance and the back electromotive force observation value;

[0013] Inputting the operating parameters of the current cycle into a predetermined state observer to obtain the back electromotive force observation value corresponding to the operating parameters of the current cycle, including: inputting the operating parameters of the current cycle into a predetermined state observer, and calculating the back electromotive force observation value through the first equation, the second equation and the third equation.

[0014] Based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor, the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle is obtained, including:

[0015] Obtaining the αβ-axis reference current of the permanent magnet linear synchronous motor in the current cycle according to the operating parameters of the current cycle and a preset proportional-integral controller;

[0016] According to the mathematical model of the permanent magnet linear synchronous motor, the current value of the current candidate voltage vector, the operating parameters and the back electromotive force observation value is predicted to obtain the αβ axis predicted current value corresponding to the current candidate voltage vector in the next cycle of the current cycle.

[0017] The operating parameters also include motor speed. The αβ-axis reference current of the permanent magnet linear synchronous motor in the current cycle is obtained according to the operating parameters of the current cycle, a predetermined state observer, and a preset proportional integral controller, including:

[0018] Calculating the speed difference between the motor speed and a preset speed reference value, and performing proportional-integral control on the speed difference through the proportional-integral controller to obtain a q-axis reference current of the permanent magnet linear synchronous motor;

[0019] The preset d-axis reference current and the q-axis reference current are converted to the αβ axes according to a predetermined coordinate conversion algorithm to obtain the αβ axis reference current.

[0020] According to the mathematical model of the permanent magnet linear synchronous motor, the current value of the current candidate voltage vector, the operating parameters and the back electromotive force observation value is predicted to obtain the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle, including:

[0021] Determine a current factor according to the inductance, the current cycle, the resistance and the actual current of the αβ axis, and subtract the sum of the current factor and the current candidate voltage vector from the back electromotive force observation value to obtain a prediction factor;

[0022] The ratio of the current cycle to the inductance is multiplied by the prediction factor to obtain the αβ-axis predicted current value corresponding to the current candidate voltage vector.

[0023] The optimal voltage vector is determined based on the αβ-axis predicted current values ​​corresponding to all candidate voltage vectors, including:

[0024] Calculating the α-axis current difference between the α-axis component of the αβ-axis reference current and the α-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector; Calculating the β-axis current difference between the β-axis component of the αβ-axis reference current and the β-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector;

[0025] Obtaining a cost function value of the current candidate voltage vector based on the α-axis current difference and the β-axis current difference;

[0026] A candidate voltage vector with the smallest cost function value among all candidate voltage vectors is determined as the optimal voltage vector.

[0027] The operating parameters of the permanent magnet linear synchronous motor are obtained according to the preset cycle, including:

[0028] Collecting the phase current of the permanent magnet linear synchronous motor, and converting the phase current to the αβ axis, to obtain the actual current of the αβ axis of the permanent magnet linear synchronous motor;

[0029] The motor speed of the permanent magnet linear synchronous motor is collected, and the angular velocity of the permanent magnet linear synchronous motor is calculated according to the motor speed.

[0030] A control device for a permanent magnet linear synchronous motor, comprising:

[0031] A parameter acquisition module, used to acquire the operating parameters of the permanent magnet linear synchronous motor according to a preset cycle, wherein the operating parameters include the actual current of the αβ axis;

[0032] A first calculation module, for each cycle, inputting the operating parameters of the current cycle into a predetermined state observer to obtain a back electromotive force observation value corresponding to the operating parameters of the current cycle;

[0033] A second calculation module is used to obtain, for each candidate voltage vector of the current cycle predetermined, an αβ-axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor;

[0034] A drive control module is used to determine an optimal voltage vector based on the αβ-axis predicted current values ​​corresponding to all candidate voltage vectors, and to drive and control the permanent magnet linear synchronous motor based on the optimal voltage vector.

[0035] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method of the permanent magnet linear synchronous motor as described above when executing the program.

[0036] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the control method of the permanent magnet linear synchronous motor as described above.

[0037] Compared with the prior art, the advantages of the present invention are:

[0038] The present invention obtains the operating parameters of the permanent magnet linear synchronous motor according to a preset cycle; for each cycle, the operating parameters of the current cycle are input into a predetermined state observer to obtain the back electromotive force observation value corresponding to the operating parameters of the current cycle; for each candidate voltage vector of the predetermined current cycle, based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor, the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle is obtained; based on the αβ axis predicted current values ​​corresponding to all candidate voltage vectors, the optimal voltage vector is determined, and the permanent magnet linear synchronous motor is driven and controlled based on the optimal voltage vector. The method of the embodiment of the present invention accurately predicts the back electromotive force observation value through the operating parameters and the back electromotive force observer, and can effectively suppress DC bias and current noise, thereby improving the back electromotive force observation accuracy of the permanent magnet linear synchronous motor. Directly using the observed back electromotive force for current prediction avoids the influence of the flux linkage parameter offset on the prediction control accuracy, thereby improving the parameter robustness and anti-parameter disturbance capability of the prediction model. Furthermore, the technical solution of the embodiment of the present invention simplifies the control method of the motor through the state observer and the mathematical model, and also reduces the consumption of computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0040] Figure 1 A first flow chart of a control method for a permanent magnet linear synchronous motor provided by an embodiment of the present invention;

[0041] Figure 2 A second flow chart of a control method for a permanent magnet linear synchronous motor provided by an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of a process of controlling a permanent magnet linear synchronous motor provided by an embodiment of the present invention;

[0043] Figure 4 A schematic structural diagram of a control device for a permanent magnet linear synchronous motor provided by an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0045] The symbols in the figure represent:

[0046] 401. parameter acquisition module; 402. first calculation module; 403. second calculation module; 404. drive control module; 12. electronic device; 14. external device; 16. processing unit; 18. bus; 20. network adapter; 22. input / output interface; 24. display; 28. system memory; 30. random access memory; 32. cache memory; 34. storage system; 40. utility tool; 46. program module. DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereby.

[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0049] Figure 1 This is a first flow chart of a control method for a permanent magnet linear synchronous motor provided in an embodiment of the present invention. The method in the embodiment of the present invention can effectively suppress DC bias and current noise, thereby improving the parameter robustness and anti-parameter disturbance capability of the prediction model, and effectively improving the control accuracy of the control method for the permanent magnet linear synchronous motor. The method can be executed by a control device for a permanent magnet linear synchronous motor provided in an embodiment of the present invention. The device can be implemented in software and / or hardware. The following embodiments will be described by taking the device integrated in an electronic device as an example. The electronic device can be a server or computer device for implementing a control method for a permanent magnet linear synchronous motor, etc., refer to Figure 1 , the method may specifically include the following steps:

[0050] Step 101: Obtain operating parameters of the permanent magnet linear synchronous motor according to a preset cycle.

[0051] Among them, the preset cycle is a time interval predetermined based on the domain big data, the performance of the permanent magnet linear synchronous motor and the specific operating environment. The operating parameters of the permanent magnet linear synchronous motor include the angular velocity, voltage vector, resistance, inductance, actual current of the αβ axes and motor speed of the permanent magnet linear synchronous motor. The angular velocity is the rotation speed of the motor rotor of the permanent magnet linear synchronous motor, expressed in radians per second (rad / s). The voltage vector is the actual voltage value and direction applied to the stator winding of the motor when the motor is running. The actual current of the αβ axes is the actual current value flowing through the α and β axes of the motor when the motor is running.

[0052] In this solution, the corresponding operating parameters can be collected by a parameter acquisition device. For example, use an oscilloscope or a multimeter to measure the phase voltage and phase current of the motor. The speed and position information of the motor are measured in real time through position sensors such as encoders or Hall sensors. In this solution, optionally, the operating parameters of the permanent magnet linear synchronous motor are obtained according to a preset cycle, including: collecting the phase current of the permanent magnet linear synchronous motor, and converting the phase current to the αβ axis to obtain the actual current of the αβ axis of the permanent magnet linear synchronous motor; collecting the motor speed of the permanent magnet linear synchronous motor, and calculating the angular velocity of the permanent magnet linear synchronous motor according to the motor speed.

[0053] Among them, the phase current is the three-phase current of the permanent magnet linear synchronous motor. The three-phase current can be transformed to obtain a two-phase current, that is, the actual current of the αβ axis. In an optional embodiment, during the operation of the permanent magnet linear synchronous motor, the three-phase current of the motor can be collected in real time by a current sensor pre-installed on the stator winding of the motor. By transforming the three-phase current according to the preset Clark transformation formula, the α-axis component and the β-axis component of the actual current of the αβ axis of the permanent magnet linear synchronous motor can be obtained, and the actual current of the αβ axis can be further determined based on the α-axis component and the β-axis component. The Clark transformation formula is shown as follows:

[0054]

[0055] Among them, i α represents the α-axis component, i β represents the β-axis component, i a is the collected a-phase current, i b is the collected b-phase current. Further, according to i a and i β Get the actual current i of αβ axis αβ (t), t represents the acquisition time.

[0056] In an optional embodiment, during the operation of the permanent magnet linear synchronous motor, the motor speed can be collected in real time by a speed sensor (such as an encoder) installed on the motor. After the motor speed is obtained, the angular velocity is obtained based on the pre-acquired motor pole pitch (the distance between two adjacent magnetic poles) and the motor speed. In a permanent magnet linear synchronous motor, when the motor mover moves a pole pitch τ, its electrical angle will change by 2π radians. Based on the relationship between the pole pitch and the electrical angle, the following formula is obtained, and the angular velocity is obtained according to the following formula: Among them, ω r (t) represents the angular velocity, and v(t) represents the motor speed.

[0057] By collecting the phase current of the permanent magnet linear synchronous motor and converting it to the αβ axis, the actual current of the αβ axis of the permanent magnet linear synchronous motor can be obtained. This helps to achieve accurate measurement and control of the motor current, thereby improving the accuracy of current control. Calculating the angular velocity based on the motor speed helps to more accurately understand the operating status of the motor, laying the foundation for subsequent accurate prediction of the back electromotive force observation value.

[0058] Step 102: For each cycle, the operating parameters of the current cycle are input into a predetermined state observer to obtain the back electromotive force observation value corresponding to the operating parameters of the current cycle.

[0059] Among them, the state observer is used to calculate the back electromotive force observation value according to the operating parameters. The back electromotive force is the voltage induced in the winding due to the change of the magnetic field when the motor rotates. The back electromotive force observation value is the estimated value of the motor back electromotive force obtained by observation or calculation. Specifically, after obtaining the operating parameters of the current cycle, the operating parameters are input into the state observer. The state observer calculates the back electromotive force observation value of the current cycle based on the input operating parameters, combined with the relationship model of the motor used to describe the relationship between the dynamic behavior and internal state of the motor, and the known equipment parameters of the permanent magnet linear synchronous motor.

[0060] In an optional embodiment, the operating parameters also include a voltage vector, an inductance and a resistance, and the state observer includes a first equation, a second equation and a third equation; the first equation is used to express the relationship between the voltage vector, the actual current of the αβ axis, the back electromotive force observation value, the intermediate variable observation value, the inductance and the αβ axis observation current; the second equation is used to express the relationship between the angular velocity, the actual current of the αβ axis, the αβ axis observation current, the inductance and the intermediate variable observation value; the third equation is used to express the relationship between the gain parameter, the actual current of the αβ axis, the αβ axis observation current, the inductance and the back electromotive force observation value; the operating parameters of the current cycle are input into the state observer, and the state observer can calculate the back electromotive force observation value through the first equation, the second equation and the third equation.

[0061] Step 103, for each predetermined candidate voltage vector of the current cycle, based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor, obtain the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle.

[0062] Among them, the candidate voltage vector includes multiple optional voltage vectors, each candidate voltage vector is calculated in advance based on the switch state combination of the inverter. The mathematical model of the permanent magnet linear synchronous motor may include a set of mathematical equations for describing the dynamic behavior of the motor, such as voltage equations, flux equations, torque equations, and motion equations. Specifically, for a given inverter topology (such as a two-level inverter), there are a finite number of switch states. For example, for a three-phase two-level inverter, each phase has two possible states (positive or negative), so there are a total of 8 different switch state combinations, each of which corresponds to a specific voltage vector, namely, a candidate voltage vector. After obtaining the back electromotive force observation value, the input parameters of the mathematical model are calculated according to the operating parameters and the defined mathematical model, and the input parameters, each candidate voltage vector and the back electromotive force observation value are input into the mathematical model, and the αβ axis predicted current value corresponding to each candidate voltage vector is predicted by the mathematical model.

[0063] In an optional embodiment, the operating parameters also include motor speed, the speed difference between the motor speed and a preset speed reference value is calculated, and the speed difference is proportionally and integrally controlled by a proportional-integral controller to obtain the q-axis reference current of the permanent magnet linear synchronous motor; the preset d-axis reference current and the q-axis reference current are converted to the αβ-axis according to a predetermined coordinate conversion algorithm to obtain the αβ-axis reference current. The current factor is determined according to the inductance, the current cycle, the resistance and the actual current of the αβ-axis, and the sum of the current factor and the current candidate voltage vector is subtracted from the back electromotive force observation value to obtain the prediction factor; the ratio of the current cycle to the inductance is multiplied by the prediction factor to obtain the αβ-axis predicted current value corresponding to the current candidate voltage vector.

[0064] Step 104 : determining an optimal voltage vector based on the αβ-axis predicted current values ​​corresponding to all candidate voltage vectors, and driving and controlling the permanent magnet linear synchronous motor based on the optimal voltage vector.

[0065] Among them, the optimal voltage vector is the voltage vector that can most closely track the reference current in the current control cycle. By comparing the difference between the αβ-axis predicted current values ​​corresponding to all candidate voltage vectors and the preset reference current, the optimal voltage vector among all candidate voltage vectors can be determined. In an optional embodiment, after all candidate voltage vectors are obtained, for each candidate voltage vector, the α-axis current difference between the α-axis component of the αβ-axis reference current and the α-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector is calculated; the β-axis current difference between the β-axis component of the αβ-axis reference current and the β-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector is calculated; the cost function value of the current candidate voltage vector is obtained based on the α-axis current difference and the β-axis current difference; the candidate voltage vector with the smallest cost function value among all candidate voltage vectors is determined as the optimal voltage vector.

[0066] Furthermore, after obtaining the optimal voltage vector, a corresponding inverter switching signal is generated according to the optimal voltage vector. The generated inverter switching signal is applied to the inverter. After receiving the switching signal, the inverter can adjust the on-off state of its internal semiconductor switching device according to these signals, thereby changing the amplitude and phase of the output voltage. By accurately controlling the output voltage of the inverter, precise control of the permanent magnet linear synchronous motor can be achieved, including the adjustment of parameters such as speed, position and torque.

[0067] The technical solution of this embodiment obtains the operating parameters of the permanent magnet linear synchronous motor according to a preset cycle; for each cycle, the operating parameters of the current cycle are input into a predetermined state observer to obtain the back electromotive force observation value corresponding to the operating parameters of the current cycle; for each candidate voltage vector of the predetermined current cycle, based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor, the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle is obtained; based on the αβ axis predicted current values ​​corresponding to all candidate voltage vectors, the optimal voltage vector is determined, and the permanent magnet linear synchronous motor is driven and controlled based on the optimal voltage vector. The technical solution of this embodiment accurately predicts the back electromotive force observation value through the operating parameters and the back electromotive force observer, which can effectively suppress DC bias and current noise, thereby improving the back electromotive force observation accuracy of the permanent magnet linear synchronous motor. Directly using the observed back electromotive force for current prediction avoids the influence of the flux linkage parameter offset on the prediction control accuracy, thereby improving the parameter robustness and anti-parameter disturbance capability of the prediction model. Furthermore, the technical solution of the embodiment of the present invention simplifies the control method of the motor through the state observer and the mathematical model, and also reduces the consumption of computing resources.

[0068] Figure 2 The second flow chart of the control method of the permanent magnet linear synchronous motor provided in the embodiment of the present invention is a refinement of the above embodiment. The specific method can be as follows Figure 2 As shown, the method may include the following steps:

[0069] Step 201: Obtain operating parameters of the permanent magnet linear synchronous motor according to a preset cycle.

[0070] Step 202: For each cycle, the operating parameters of the current cycle are input into a predetermined state observer, and the back electromotive force observation value is calculated by the first equation, the second equation, and the third equation.

[0071] Among them, the operating parameters include angular velocity, voltage vector and resistance, and the state observer includes a first equation, a second equation and a third equation; the first equation is used to express the relationship between the voltage vector, the actual current of the αβ axis, the back electromotive force observation value, the intermediate variable observation value, the inductance and the αβ axis observation current; the second equation is used to express the relationship between the angular velocity, the actual current of the αβ axis, the αβ axis observation current, the inductance and the intermediate variable observation value; the third equation is used to express the relationship between the gain parameter, the actual current of the αβ axis, the αβ axis observation current, the inductance and the back electromotive force observation value.

[0072] In this solution, the first formula is: Among them, t is the time variable, represents the αβ axis observation current, L s Inductance, R s Represents resistance, u αβ represents the voltage vector, i αβ Indicates the actual current of αβ axis, represents the observed value of back EMF, Represents the observed value of the intermediate variable.

[0073] The second formula is: Among them, ω r represents the angular velocity, Indicates the αβ axis observation current Relative to the actual current i of the αβ axis αβ of error.

[0074] The third formula is: Among them, λ represents the gain parameter, and λ>0. Further, the state observer can be determined as follows:

[0075]

[0076] After the operating parameters of the current cycle are obtained, the operating parameters are input into the state observer, and the state observer calculates the back electromotive force observation value through the first equation, the second equation and the third equation.

[0077] Step 203 : for each predetermined candidate voltage vector of the current cycle, obtain the αβ-axis reference current of the permanent magnet linear synchronous motor of the current cycle according to the operating parameters of the current cycle and a preset proportional-integral controller.

[0078] Among them, the candidate voltage vector includes a plurality of optional voltage vectors, each candidate voltage vector is calculated in advance based on a combination of switching states of the inverter. The proportional-integral (PI) controller is a feedback control strategy, and the PI controller adjusts the control input according to the error between the actual output and the expected output. The PI controller in this scheme is used to adjust the q-axis current reference value by feedback control of the speed error. In the embodiment of this scheme, optionally, the αβ-axis reference current of the current cycle of the permanent magnet linear synchronous motor is obtained according to the operating parameters of the current cycle and a preset proportional-integral controller, including: calculating the speed difference between the motor speed and the preset speed reference value, and performing proportional-integral control on the speed difference through the proportional-integral controller to obtain the q-axis reference current of the permanent magnet linear synchronous motor. The preset d-axis reference current and the q-axis reference current are converted to the αβ-axis according to a predetermined coordinate conversion algorithm to obtain the αβ-axis reference current.

[0079] Among them, the speed reference value is a value predetermined according to the performance of the permanent magnet linear synchronous motor and the specific operating environment. The coordinate conversion algorithm is an algorithm for converting the d-axis reference current and the q-axis reference current to the αβ axis. The coordinate conversion algorithm in this scheme can be a Parker transformation algorithm. The d-axis reference current is a pre-set value used to achieve a specific control target, such as for minimizing copper loss, improving efficiency, or achieving a certain specific electromagnetic characteristic. Specifically, the motor speed and the speed reference value are subtracted to obtain a speed difference. The speed difference is input into the PI controller, and after receiving the speed difference, the PI controller performs PI control on the speed difference to obtain the q-axis reference current of the permanent magnet linear synchronous motor. After obtaining the q-axis current, the d-axis reference current and the q-axis reference current are converted to the αβ axis using the Parker transformation to obtain the αβ axis reference current.

[0080] The motor model can be simplified through the PI controller and Park transformation, which is convenient for analyzing and designing the motor control system. The complex three-phase AC motor model can be converted into a simpler two-phase DC motor model through Park transformation, making it easier to control the motor speed and current.

[0081] Step 204 , based on the mathematical model of the permanent magnet linear synchronous motor, current value prediction is performed on the current candidate voltage vector, operating parameters and back electromotive force observation values ​​to obtain the αβ axis predicted current value corresponding to the current candidate voltage vector in the next cycle of the current cycle.

[0082] Wherein, the mathematical model includes a set of mathematical equations for describing the dynamic behavior of the motor. The current candidate voltage vector, operating parameters and back electromotive force observation values ​​are input into the mathematical model, and the mathematical model can calculate them, and obtain the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle according to the calculation results. In this scheme, optionally, according to the mathematical model of the permanent magnet linear synchronous motor, the current value prediction is performed on the current candidate voltage vector, operating parameters and back electromotive force observation values ​​to obtain the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle, including: determining the current factor according to the inductance, the current cycle, the resistance and the actual current of the αβ axis, and subtracting the sum of the current factor and the current candidate voltage vector from the back electromotive force observation value to obtain the prediction factor; multiplying the ratio of the current cycle to the inductance by the prediction factor to obtain the αβ axis predicted current value corresponding to the current candidate voltage vector.

[0083] Among them, the current factor and the prediction factor are part of the equation of the mathematical model, and the current factor and the prediction factor are used to calculate the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle. After obtaining the αβ axis reference current of the current cycle, according to the inductance L s , current cycle T, resistance R s and the actual current i of the αβ axis αβ The current factor is obtained as: Where t is the time variable. The current factor and the current candidate voltage vector u αβ The sum of the back EMF observations Subtract and get the predictor: Multiply the ratio of the current cycle to the inductance by the prediction factor to obtain the αβ-axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle: Among them, i αβ (t+1) is the predicted current value of the αβ axes corresponding to the current candidate voltage vector.

[0084] By obtaining the predicted current value of the αβ axes corresponding to the current candidate voltage vector through the mathematical model, we can understand the impact of different low-voltage vectors on the motor performance, and thus select the optimal voltage vector, which provides a basis for subsequently improving the accuracy and efficiency of controlling the permanent magnet linear synchronous motor.

[0085] Step 205, calculate the α-axis current difference between the α-axis component of the αβ-axis reference current and the α-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector; calculate the β-axis current difference between the β-axis component of the αβ-axis reference current and the β-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector.

[0086] Specifically, after obtaining the αβ-axis predicted current value, the α-axis component of the αβ-axis reference current is subtracted from the α-axis component of the αβ-axis predicted current value to obtain the α-axis current difference: i αref -i α (t+1); where i αref represents the α-axis component of the αβ-axis reference current, i α (t+1) represents the α-axis component of the αβ-axis predicted current value. Subtract the β-axis component of the αβ-axis reference current from the β-axis component of the αβ-axis predicted current value to obtain the β-axis current difference: i βref -i β (t+1), where i βref represents the β-axis component of the αβ-axis reference current, i β (t+1) represents the β-axis component of the αβ-axis predicted current value.

[0087] Step 206 : Obtain a cost function value of the current candidate voltage vector based on the α-axis current difference and the β-axis current difference; and determine the candidate voltage vector with the smallest cost function value among all the candidate voltage vectors as the optimal voltage vector.

[0088] The cost function is a function used to measure the difference between the model prediction value and the true value. Therefore, in this solution, after obtaining the cost function value corresponding to each candidate voltage vector, the candidate voltage vector with the smallest cost function value among all candidate voltage vectors can be determined as the optimal voltage vector.

[0089] The cost function in this scheme is: g = [i αref -i α (t+1)] 2 +[i βref -i β (t+1)] 2 ; Wherein, g represents the cost function value. After obtaining the α-axis current difference and the β-axis current difference, the α-axis current difference and the β-axis current difference are brought into the cost function to obtain the cost function value of the current candidate voltage vector.

[0090] Step 207: Drive and control the permanent magnet linear synchronous motor based on the optimal voltage vector.

[0091] Figure 3 Schematic diagram of the process of controlling a permanent magnet linear synchronous motor provided by an embodiment of the present invention. Figure 3 As shown, the three-phase current i is collected from the permanent magnet linear synchronous motor abc , for i abc Perform coordinate transformation to convert the current from the abc axis to the αβ axis and obtain i αβ The α-axis component i α (t) and the β-axis component i β(t). Collect the pole pitch τ of the permanent magnet linear synchronous motor and obtain the angular velocity: ω r (t). The back electromotive force is observed based on the vector voltage, the actual current of the αβ axis and the angular velocity to obtain the back electromotive force observation value. According to the back electromotive force observation value, the current is predicted and the αβ axis predicted current i is obtained. αβ (t+1). According to the PI controller, the speed reference value i ref The difference between the motor speed v is used for PI control to obtain the q-axis reference current i qref , set the d-axis reference current i dref (i dref =0) and the q-axis reference current is converted to the αβ-axis to obtain the α-axis component i of the αβ-axis reference current αref and the β-axis component i βref The optimal vector is selected according to the αβ axis reference current and αβ axis predicted current corresponding to all candidate voltage vectors to obtain the optimal voltage vector. The corresponding inverter switching signal S is generated according to the optimal voltage vector. abc , the generated inverter switching signal is applied to the inverter (S1, S2, S3, S4, S5 and S6), and the output voltage u is changed by the inverter dc By precisely controlling the output voltage of the inverter, precise control of the permanent magnet linear synchronous motor can be achieved, including the adjustment of parameters such as speed and torque.

[0092] In the technical solution of this embodiment, the operating parameters of the permanent magnet linear synchronous motor are obtained according to a preset cycle. For each cycle, the operating parameters of the current cycle are input into a predetermined state observer, and the back electromotive force observation value is calculated by the first equation, the second equation and the third equation. For each candidate voltage vector of the current cycle determined in advance, the αβ axis reference current of the current cycle of the permanent magnet linear synchronous motor is obtained according to the operating parameters of the current cycle, the predetermined state observer, and the predetermined proportional integral controller. According to the mathematical model of the permanent magnet linear synchronous motor, the current value is predicted for the current candidate voltage vector, the operating parameters and the back electromotive force observation value, and the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle is obtained. Calculate the α axis current difference between the α axis component of the αβ axis reference current and the α axis component of the αβ axis predicted current value corresponding to the current candidate voltage vector; calculate the β axis current difference between the β axis component of the αβ axis reference current and the β axis component of the αβ axis predicted current value corresponding to the current candidate voltage vector. The cost function value of the current candidate voltage vector is obtained based on the α-axis current difference and the β-axis current difference; the candidate voltage vector with the smallest cost function value among all candidate voltage vectors is determined as the optimal voltage vector. The permanent magnet linear synchronous motor is driven and controlled based on the optimal voltage vector. The technical solution of this embodiment uses the back electromotive force as an observation quantity, and obtains the back electromotive force observation value based on a second-order state observer, thereby eliminating the DC bias that may exist in the mathematical model, significantly enhancing the ability of the mathematical model to resist parameter disturbances, and avoiding differential operations in the process of determining the back electromotive force observation value, having good dynamic response characteristics, and providing a strong guarantee for subsequent model predictive control. Directly using the observed back electromotive force for current prediction avoids the influence of the flux parameter offset on the prediction control accuracy, thereby improving the parameter robustness and anti-parameter disturbance ability of the prediction model. In addition, the technical solution of the embodiment of the present invention simplifies the control method of the motor through the state observer and the mathematical model, and also reduces the consumption of computing resources.

[0093] Figure 4 The structure diagram of the control device of the permanent magnet linear synchronous motor provided by the embodiment of the present invention is suitable for executing the control method of the permanent magnet linear synchronous motor provided by the embodiment of the present invention. Figure 4 As shown, the device may specifically include:

[0094] The parameter acquisition module 401 is used to acquire the operating parameters of the permanent magnet linear synchronous motor according to a preset cycle;

[0095] A first calculation module 402 is used for inputting the operating parameters of the current cycle into a predetermined state observer for each cycle to obtain a back electromotive force observation value corresponding to the operating parameters of the current cycle;

[0096] The second calculation module 403 is used to obtain, for each candidate voltage vector of the current cycle predetermined, the αβ-axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor;

[0097] The drive control module 404 is used to determine the optimal voltage vector based on the αβ-axis predicted current values ​​corresponding to all candidate voltage vectors, and to drive and control the permanent magnet linear synchronous motor based on the optimal voltage vector.

[0098] Optionally, the operating parameters include the actual current of the αβ axis, angular velocity, voltage vector, inductance and resistance, and the state observer includes a first equation, a second equation and a third equation; the first equation is used to express the relationship between the voltage vector, the actual current of the αβ axis, the back electromotive force observation value, the intermediate variable observation value, the inductance and the αβ axis observation current; the second equation is used to express the relationship between the angular velocity, the actual current of the αβ axis, the αβ axis observation current, the inductance and the intermediate variable observation value, and the third equation is used to express the relationship between the gain parameter, the actual current of the αβ axis, the αβ axis observation current, the inductance and the back electromotive force observation value; the first calculation module 402 is specifically used to: input the operating parameters of the current cycle into a predetermined state observer, and calculate the back electromotive force observation value through the first equation, the second equation and the third equation.

[0099] The second calculation module 403 is specifically used to obtain the αβ axis reference current of the permanent magnet linear synchronous motor in the current cycle according to the operating parameters of the current cycle and a preset proportional integral controller;

[0100] According to the mathematical model of the permanent magnet linear synchronous motor, the current value of the current candidate voltage vector, the operating parameters and the back electromotive force observation value is predicted to obtain the αβ axis predicted current value corresponding to the current candidate voltage vector in the next cycle of the current cycle.

[0101] Optionally, the second calculation module 403 is further used to: calculate the speed difference between the motor speed and a preset speed reference value, and perform proportional integral control on the speed difference through the proportional integral controller to obtain a q-axis reference current of the permanent magnet linear synchronous motor;

[0102] The preset d-axis reference current and the q-axis reference current are converted to the αβ axes according to a predetermined coordinate conversion algorithm to obtain the αβ axis reference current.

[0103] Optionally, the second calculation module 403 is further used to: determine a current factor according to the inductance, the current cycle, the resistance and the actual current of the αβ axes, and subtract the sum of the current factor and the current candidate voltage vector from the back electromotive force observation value to obtain a prediction factor;

[0104] The ratio of the current cycle to the inductance is multiplied by the prediction factor to obtain the αβ-axis predicted current value corresponding to the current candidate voltage vector.

[0105] The drive control module 404 is specifically used to: calculate the α-axis current difference between the α-axis component of the αβ-axis reference current and the α-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector; calculate the β-axis current difference between the β-axis component of the αβ-axis reference current and the β-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector;

[0106] Obtaining a cost function value of the current candidate voltage vector based on the α-axis current difference and the β-axis current difference;

[0107] A candidate voltage vector with the smallest cost function value among all candidate voltage vectors is determined as the optimal voltage vector.

[0108] Optionally, the parameter acquisition module 401 is specifically used to: collect the phase current of the permanent magnet linear synchronous motor, and convert the phase current to the αβ axis to obtain the actual current of the αβ axis of the permanent magnet linear synchronous motor;

[0109] The motor speed of the permanent magnet linear synchronous motor is collected, and the angular velocity of the permanent magnet linear synchronous motor is calculated according to the motor speed.

[0110] The control device of the permanent magnet linear synchronous motor provided in the embodiment of the present invention can execute the control method of the permanent magnet linear synchronous motor provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The contents not described in detail in this embodiment can refer to the description in any method embodiment of the present invention.

[0111] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, referring to Figure 5 , Figure 5 The electronic device 12 shown is only an example and should not limit the functions and scope of use of the embodiments of the present application. Figure 5 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0112] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0113] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0114] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical medium) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0115] A program / utility 40 having a set (at least one) of program modules 46 may be stored, for example, in the memory 28, such program modules 46 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 46 generally perform the functions and / or methods of the embodiments described herein.

[0116] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 12, and / or may communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be understood that although Figure 5 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0117] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, a control method for a permanent magnet linear synchronous motor provided in an embodiment of the present invention is implemented: the operating parameters of the permanent magnet linear synchronous motor are obtained according to a preset period, and the operating parameters include the actual current of the αβ axes; for each period, the operating parameters of the current period are input into a predetermined state observer to obtain the back electromotive force observation value corresponding to the operating parameters of the current period; for each candidate voltage vector of the predetermined current period, based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor, the αβ axis predicted current value corresponding to the current candidate voltage vector of the next period of the current period is obtained; the optimal voltage vector is determined based on the αβ axis predicted current values ​​corresponding to all candidate voltage vectors, and the permanent magnet linear synchronous motor is driven and controlled based on the optimal voltage vector.

[0118] The embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, a control method for a permanent magnet linear synchronous motor provided by all the embodiments of the present invention is implemented: the operating parameters of the permanent magnet linear synchronous motor are obtained according to a preset cycle, and the operating parameters include the actual current of the αβ axis; for each cycle, the operating parameters of the current cycle are input into a predetermined state observer to obtain the back electromotive force observation value corresponding to the operating parameters of the current cycle; for each candidate voltage vector of the predetermined current cycle, based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor, the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle is obtained; based on the αβ axis predicted current values ​​corresponding to all candidate voltage vectors, the optimal voltage vector is determined, and the permanent magnet linear synchronous motor is driven and controlled based on the optimal voltage vector. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electronic device, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction-executing electronic device, apparatus, or device.

[0119] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction-executing electronic device, apparatus, or device.

[0120] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0121] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0122] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A control method for a permanent magnet linear synchronous motor, characterized in that: The method comprises: Obtaining operating parameters of the permanent magnet linear synchronous motor according to a preset cycle; For each cycle, the operating parameters of the current cycle are input into a predetermined state observer to obtain a back electromotive force observation value corresponding to the operating parameters of the current cycle; For each predetermined candidate voltage vector of the current cycle, based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor, the αβ-axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle is obtained; An optimal voltage vector is determined based on the αβ-axis predicted current values ​​corresponding to all candidate voltage vectors, and the permanent magnet linear synchronous motor is driven and controlled based on the optimal voltage vector.

2. The control method of the permanent magnet linear synchronous motor according to claim 1, characterized in that: The operating parameters include the actual current of the αβ axis, the angular velocity, the voltage vector, the inductance and the resistance, and the state observer includes a first equation, a second equation and a third equation; the first equation is used to express the relationship between the voltage vector, the actual current of the αβ axis, the back electromotive force observation value, the intermediate variable observation value, the inductance and the αβ axis observation current; the second equation is used to express the relationship between the angular velocity, the actual current of the αβ axis, the αβ axis observation current, the inductance and the intermediate variable observation value, and the third equation is used to express the relationship between the gain parameter, the actual current of the αβ axis, the αβ axis observation current, the inductance and the back electromotive force observation value; Inputting the operating parameters of the current cycle into a predetermined state observer to obtain the back electromotive force observation value corresponding to the operating parameters of the current cycle, including: inputting the operating parameters of the current cycle into a predetermined state observer, and calculating the back electromotive force observation value through the first equation, the second equation and the third equation.

3. The control method of the permanent magnet linear synchronous motor according to claim 1, characterized in that: Based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor, the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle is obtained, including: Obtaining the αβ-axis reference current of the permanent magnet linear synchronous motor in the current cycle according to the operating parameters of the current cycle and a preset proportional-integral controller; According to the mathematical model of the permanent magnet linear synchronous motor, the current value of the current candidate voltage vector, the operating parameters and the back electromotive force observation value is predicted to obtain the αβ axis predicted current value corresponding to the current candidate voltage vector in the next cycle of the current cycle.

4. The control method of the permanent magnet linear synchronous motor according to claim 3, characterized in that: The operating parameters also include motor speed. The αβ-axis reference current of the permanent magnet linear synchronous motor in the current cycle is obtained according to the operating parameters of the current cycle, a predetermined state observer, and a preset proportional integral controller, including: Calculating the speed difference between the motor speed and a preset speed reference value, and performing proportional-integral control on the speed difference through the proportional-integral controller to obtain a q-axis reference current of the permanent magnet linear synchronous motor; The preset d-axis reference current and the q-axis reference current are converted to the αβ axes according to a predetermined coordinate conversion algorithm to obtain the αβ axis reference current.

5. The control method of the permanent magnet linear synchronous motor according to claim 3, characterized in that: According to the mathematical model of the permanent magnet linear synchronous motor, the current value of the current candidate voltage vector, the operating parameters and the back electromotive force observation value is predicted to obtain the αβ axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle, including: Determine a current factor according to the inductance, the current cycle, the resistance and the actual current of the αβ axis, and subtract the sum of the current factor and the current candidate voltage vector from the back electromotive force observation value to obtain a prediction factor; The ratio of the current cycle to the inductance is multiplied by the prediction factor to obtain the αβ-axis predicted current value corresponding to the current candidate voltage vector.

6. The control method of the permanent magnet linear synchronous motor according to claim 1, characterized in that: The optimal voltage vector is determined based on the αβ-axis predicted current values ​​corresponding to all candidate voltage vectors, including: Calculating the α-axis current difference between the α-axis component of the αβ-axis reference current and the α-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector; Calculating the β-axis current difference between the β-axis component of the αβ-axis reference current and the β-axis component of the αβ-axis predicted current value corresponding to the current candidate voltage vector; Obtaining a cost function value of the current candidate voltage vector based on the α-axis current difference and the β-axis current difference; A candidate voltage vector with the smallest cost function value among all candidate voltage vectors is determined as the optimal voltage vector.

7. The control method of the permanent magnet linear synchronous motor according to claim 1, characterized in that: The operating parameters of the permanent magnet linear synchronous motor are obtained according to the preset cycle, including: Collecting the phase current of the permanent magnet linear synchronous motor, and converting the phase current to the αβ axis, to obtain the actual current of the αβ axis of the permanent magnet linear synchronous motor; The motor speed of the permanent magnet linear synchronous motor is collected, and the angular velocity of the permanent magnet linear synchronous motor is calculated according to the motor speed.

8. A control device for a permanent magnet linear synchronous motor, characterized in that: include: A parameter acquisition module, used to acquire the operating parameters of the permanent magnet linear synchronous motor according to a preset cycle; A first calculation module, for each cycle, inputting the operating parameters of the current cycle into a predetermined state observer to obtain a back electromotive force observation value corresponding to the operating parameters of the current cycle; A second calculation module is used to obtain, for each candidate voltage vector of the current cycle predetermined, an αβ-axis predicted current value corresponding to the current candidate voltage vector of the next cycle of the current cycle based on the operating parameters, the current candidate voltage, the back electromotive force observation value and the pre-established mathematical model of the permanent magnet linear synchronous motor; A drive control module is used to determine an optimal voltage vector based on the αβ-axis predicted current values ​​corresponding to all candidate voltage vectors, and to drive and control the permanent magnet linear synchronous motor based on the optimal voltage vector.

9. An electronic device, comprising 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 control method of the permanent magnet linear synchronous motor as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the permanent magnet linear synchronous motor as claimed in any one of claims 1 to 7 is implemented.

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