Satellite sailboard driving motor control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a satellite panel driving motor control method and device, electronic equipment and a storage medium. The satellite panel driving motor control method comprises the steps of determining an expected rotating speed of a driving motor according to an angle difference between a satellite panel and a target position and expected time; based on a finite set model predictive control algorithm, determining a specific switch combination of the three-phase inverter according to the expected rotating speed and the mechanical angular speed; and controlling and detecting the speed and the position of the driving motor according to the specific switch combination of the three-phase inverter. According to the method, the problems that the response speed is low and the occupied resources of calculation are large are solved, and the satellite sailboard driving motor can rotate to the designated position more quickly and stably.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of drive motor control, and in particular to a satellite sailboard drive motor control method, device, electronic device and storage medium. Background Art

[0002] The development of commercial space satellites has led to new requirements for the performance and control methods of satellite sailboard drive motors. Faster response to commands from the satellite's mission computer and smoother, faster rotation to the designated position are crucial for satellite energy balance, especially during the initial stages of orbital entry. Existing satellite sailboard drive motors often use Field-Oriented Control (FOC) or other algorithms, which can result in slow response and high computational resource consumption. Summary of the Invention

[0003] The present invention provides a satellite sailboard drive motor control method, device, electronic equipment and storage medium, which solve the problems of slow response speed and large computing resource occupation, so that the satellite sailboard drive motor can rotate to a specified position more quickly and smoothly.

[0004] According to one aspect of the present invention, a method for controlling a satellite sailboard drive motor is provided. The method for controlling a satellite sailboard drive motor includes:

[0005] Determine the desired speed of the drive motor according to the angular difference between the satellite sailboard and the target position and the desired time;

[0006] Determining a specific switch combination of the three-phase inverter based on a finite set model predictive control algorithm and according to the desired speed and mechanical angular velocity;

[0007] The speed and position of the drive motor are controlled and detected according to a specific switch combination of the three-phase inverter.

[0008] Optionally, the determining the specific switch combination of the three-phase inverter based on the finite set model predictive control algorithm and according to the desired rotational speed and mechanical angular velocity includes:

[0009] Constructing a three-phase inverter prediction model based on the relationship between the controlled variable and the switch combination of the three-phase inverter;

[0010] constructing a cost function based on the reference value of the controlled variable and the predicted value of the controlled variable;

[0011] A specific switch combination of the three-phase inverter is determined according to the cost function.

[0012] Optionally, determining the specific switch combination of the three-phase inverter according to the cost function includes:

[0013] At the current moment, a predicted value of the controlled variable at the next moment is calculated according to the three-phase inverter prediction model;

[0014] Calculating predicted values ​​of the controlled variable at the next moment under the action of all effective switch combinations of the three-phase inverter according to the three-phase inverter prediction model;

[0015] A switch combination corresponding to a predicted value closest to the reference value of the controlled variable at the next moment is selected as the specific switch combination of the three-phase inverter.

[0016] Optionally, the cost function is expressed as:

[0017] fg{x*,x pi ,S i}, i = 1, 2, ... n

[0018] Among them, fg is the cost function, x* is the reference value of the controlled quantity, S i are all valid switch combinations of the three-phase inverter, and n is the number of all valid switch combinations of the three-phase inverter.

[0019] Optionally, the value of n is 8.

[0020] Optionally, the three-phase inverter includes three bridges, each bridge has two switching tubes, and the switching states of the switching tubes include upper open and lower closed and upper closed and lower open;

[0021] The controlling and detecting the speed and position of the drive motor according to the specific switch combination of the three-phase inverter includes:

[0022] The specific switch combination is an optimal switch combination. The three-phase inverter controls the on-state of two switch tubes on each bridge according to the optimal switch combination to achieve control and detection of the speed and position of the drive motor.

[0023] Optionally, the expression of the three-phase output voltage of the three-phase inverter is:

[0024]

[0025] Among them, [s a , s b , s c ] T Is the switch state, including [0,0,0] T , [1,0,0] T , [1,1,0] T , [0,1,0] T , [0,1,1] T , [0,0,1]T , [1,0,1] T and [1,1,1] T Eight switch states, V dc is the DC link voltage, [v a 、v b 、v c ] T is the phase voltage at the terminals.

[0026] According to another aspect of the present invention, a control device for a satellite sailboard driving motor is provided, the control device for a satellite sailboard driving motor comprising:

[0027] An expected speed determination module is used to determine an expected speed of the drive motor according to the angular difference between the satellite sailboard and the target position and the expected time;

[0028] a switch combination determination module, configured to determine a specific switch combination of the three-phase inverter based on a finite set model predictive control algorithm and according to the desired rotational speed and mechanical angular velocity;

[0029] A control detection module is used to control and detect the speed and position of the drive motor according to a specific switch combination of the three-phase inverter.

[0030] According to another aspect of the present invention, an electronic device is provided, comprising:

[0031] one or more processors;

[0032] a memory for storing one or more programs;

[0033] When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any embodiment of the present invention.

[0034] According to another aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to any embodiment of the present invention is implemented.

[0035] The technical solution of the embodiment of the present invention determines the expected speed of the drive motor based on the angular difference between the satellite panel and the target position and the expected time, determines the specific switch combination of the three-phase inverter based on the finite set model predictive control algorithm, and controls and detects the speed and position of the drive motor according to the specific switch combination of the three-phase inverter. The FCS-MPC algorithm has a faster response speed, occupies less satellite computing resources, and has a relatively faster calculation speed, so that the satellite panel drive motor rotates more quickly and smoothly to the specified position. In summary, the present invention solves the problem that the existing technology mostly adopts magnetic field oriented control or other algorithms for control, which has a slow response speed and occupies a large amount of computing resources.

[0036] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 This is a flow chart of a satellite sailboard driving motor control method provided in accordance with an embodiment of the present invention;

[0039] Figure 2 is a control block diagram provided according to an embodiment of the present invention;

[0040] Figure 3 This is an algorithm logic block diagram provided according to an embodiment of the present invention;

[0041] Figure 4 is a comparative schematic diagram of a response curve provided according to an embodiment of the present invention;

[0042] Figure 5 is a structural block diagram of an FCS-MPC algorithm provided according to an embodiment of the present invention;

[0043] Figure 6 is a schematic diagram of an FCS-MPC algorithm provided according to an embodiment of the present invention;

[0044] Figure 7 is a comparison chart of simulation results of two improved algorithms provided according to an embodiment of the present invention;

[0045] Figure 82 is a schematic structural diagram of a satellite sailboard driving motor control device provided according to an embodiment of the present invention;

[0046] Figure 9 is a structural diagram of an electronic device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. 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 necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] Figure 1 is a flow chart of a satellite sailboard driving motor control method provided by an embodiment of the present invention, with reference to Figure 1 The present invention provides a method for controlling a satellite sailboard drive motor. The method can be performed by a satellite sailboard drive motor control device, which can be implemented by software and / or hardware. The method for controlling a satellite sailboard drive motor includes the following steps:

[0050] S110 , determining a desired rotational speed of the driving motor according to the angular difference between the satellite sailboard and the target position and the desired time.

[0051] Specifically, Figure 2 This is a control block diagram provided according to an embodiment of the present invention, referring to Figure 2 After receiving the angle difference between the satellite sailboard and the target position, the satellite service computer combines the force that the satellite sailboard can withstand to form an expected time t, and then obtains the expected speed ω r .

[0052] S120. Determine a specific switch combination of the three-phase inverter based on a finite set model predictive control algorithm and according to a desired rotational speed and a mechanical angular velocity.

[0053] For details, please refer to Figure 2 , the expected speed ω r and the mechanical angular velocity ω m The result is sent to the Finite Control Set Model Predictive Control (FCS-MPC) algorithm. The FCS-MPC algorithm has a faster response speed, processes and calculates the desired speed and mechanical angular velocity, selects the optimal switch combination as the specific switch combination, and sends it to the three-phase inverter.

[0054] S130 , controlling and detecting the speed and position of the drive motor according to a specific switch combination of the three-phase inverter.

[0055] Specifically, the three-phase inverter consists of three bridges, each with two switches. These switches can have two switching states: top-on, bottom-off, and top-off, bottom-on, represented by 1 or 0. The three-phase inverter controls the switching states of each bridge based on specific switch combinations, controlling the speed and position of the drive motor. This allows the solar array to reach its designated position faster and more effectively, achieving solar orientation and ultimately achieving optimal power generation for the entire satellite.

[0056] Figure 3 This is an algorithm logic block diagram provided according to an embodiment of the present invention, referring to Figure 3 After the satellite sailboard drive command is issued, the satellite service computer performs a real-time comparison of the position difference. If there is an angle difference between the satellite sailboard and the target position at this time, the control method described above is used to control the drive motor speed and position using the FCS-MPC algorithm, and the position is detected in real time. If the angle difference is 0 at this time, it means that the satellite sailboard has moved to the specified position and the control can be ended.

[0057] Figure 4 is a comparative schematic diagram of a response curve provided according to an embodiment of the present invention, with reference to Figure 4 , the simulation results of FCS-MPC control are directly compared with those of traditional field oriented control (FOC) under the same conditions, with a load torque of 10N·m. Figure 4 The blue curve in the middle is the FCS-MPC response curve, and the red curve is the FOC response curve. It's clear that the FCS-MPC algorithm responds faster, with a rise time less than half that of FOC, and also settles faster. Therefore, the FCS-MPC algorithm has a clear advantage.

[0058] The embodiment of the present invention adds the FCS-MPC algorithm on the basis of traditional stepper motor control, and its main advantages are as follows: compared with the traditional proportional integral (PI) algorithm, the FCS-MPC algorithm has a faster response speed, can make the sailboard reach the specified position faster and better, achieve solar orientation, and thus enable the entire satellite to achieve power generation effect as soon as possible. Compared with another continuous set model predictive control algorithm (Continuous-Control-Set MPC, CCS-MPC), the use of the FCS-MPC algorithm occupies less satellite computing resources and has a relatively faster calculation speed, which is of great significance to the resource utilization of the entire satellite. The FCS-MPC algorithm has low requirements on the computing power of the satellite computer and can be implemented in existing microprocessors, with better adaptability. In the context of the increasingly miniaturized and commercialized application of commercial satellites, the satellite sailboard drive motor control method in the embodiment of the present invention is highly applicable and has broad application prospects in the field of commercial microsatellites.

[0059] The technical solution of the embodiment of the present invention determines the expected speed of the drive motor based on the angular difference between the satellite panel and the target position and the expected time, determines the specific switch combination of the three-phase inverter based on the finite set model predictive control algorithm, and controls and detects the speed and position of the drive motor according to the specific switch combination of the three-phase inverter. The FCS-MPC algorithm has a faster response speed, occupies less satellite computing resources, and has a relatively faster calculation speed, so that the satellite panel drive motor rotates more quickly and smoothly to the specified position. In summary, the present invention solves the problem that the existing technology mostly adopts magnetic field oriented control or other algorithms for control, which has a slow response speed and occupies a large amount of computing resources.

[0060] Optionally, based on a finite set model predictive control algorithm and according to a desired rotational speed and a mechanical angular velocity, determining a specific switch combination of the three-phase inverter includes:

[0061] A three-phase inverter prediction model is constructed based on the relationship between the controlled variables and the switch combination of the three-phase inverter;

[0062] Constructing a cost function based on the reference value of the controlled quantity and the predicted value of the controlled quantity;

[0063] A specific switching combination of the three-phase inverter is determined according to the cost function.

[0064] Optionally, the cost function is expressed as:

[0065] fg{x*,x pi ,S i}, i = 1, 2, ... n

[0066] Among them, fg is the cost function, x* is the reference value of the controlled quantity, S iare all valid switch combinations of the three-phase inverter, and n is the number of all valid switch combinations of the three-phase inverter.

[0067] Optionally, the value of n is 8.

[0068] Specifically, Figure 5 This is a structural block diagram of an FCS-MPC algorithm provided according to an embodiment of the present invention, with reference to Figure 5 The specific process of the finite set model predictive control algorithm is as follows: First, a three-phase inverter prediction model f is constructed based on the relationship between the controlled variable x and the switch combination S of the three-phase inverter. p {x,S}; at time t k , by the measured value x(t k ) with multiple switches S i Calculate the next moment in multiple switch combinations S i The predicted value of the controlled quantity under the action of xp i (t k +1)=f p {x(t k ),S i}, i = 1, 2, ... n, n is the number of all valid switch combinations of the three-phase inverter. Taking the traditional two-level three-phase inverter as an example, n = 8; according to the characteristics of the algorithm system of interest and the control objectives to be achieved, such as tracking of the reference value, power consumption and algorithm system constraints, the cost function fg{x*,x pi ,S i}, where x* is the reference value of the controlled quantity, x pi is the predicted value of the controlled quantity. Since the sampling period is generally very short, the reference value of the controlled quantity is considered to change slowly relative to the system sampling time; the cost function f is selected so that g The smallest switch combination is used in a three-phase inverter.

[0069] Optionally, determining a specific switch combination of the three-phase inverter according to the cost function includes:

[0070] At the current moment, the predicted value of the controlled variable at the next moment is calculated based on the three-phase inverter prediction model;

[0071] Calculate the predicted value of the controlled variable at the next moment under the action of all effective switch combinations of the three-phase inverter according to the three-phase inverter prediction model;

[0072] A switch combination corresponding to a predicted value closest to the reference value of the controlled variable at the next moment is selected as a specific switch combination of the three-phase inverter.

[0073] Specifically, Figure 6This is a schematic diagram of an FCS-MPC algorithm provided according to an embodiment of the present invention, refer to Figure 6 , t k The time is the current time, t k+1 The moment is the next moment, and the moment tk+2 is the next moment after the next moment. In practical applications, the controller calculation time and sampling time cannot be ignored. Therefore, at t k At this moment, t k+1 The switch combination at time t k At this moment, the switch combination S(t k ) has been in t k+1 At this moment, the three-phase inverter prediction model f p {x(t k )),S(t k ))} can calculate the system state x of the next beat p (t k+1 ), repeat the above prediction algorithm selection so that at t k+2 At time t, the switch combination with the minimum system cost function is k+1 The optimal switch combination S(t k+1 ), at t k+1 Acts on the three-phase inverter at all times. According to the above algorithm description, and setting the control goal of the system as the accurate tracking of the controlled quantity to its reference value, it can be obtained as follows Figure 6 The switch combination selection process of the three-phase inverter FCS-MPC algorithm is shown in Figure 2. Figure 6 In t k At time t, the three-phase inverter prediction model first calculates the controlled quantity at t k+1 The predicted value x at time p (t k+1 ), and then call the three-phase inverter prediction model to calculate the controlled quantity under the action of all effective switch combinations of the three-phase inverter at t k+2 The predicted value x at time pi (t k+2 ), i=1,2,……n, then select t k+2 The switch combination corresponding to the predicted value closest to the reference value of the controlled quantity at the moment t k+1 Acting on the system at all times.

[0074] Optionally, the three-phase inverter includes three bridges, each bridge has two switching tubes, and the switching states of the switching tubes include upper open and lower closed and upper closed and lower open;

[0075] The speed and position of the drive motor are controlled and detected based on the specific switching combination of the three-phase inverter, including:

[0076] The specific switch combination is the optimal switch combination. The three-phase inverter controls the on-state of two switch tubes on each bridge according to the optimal switch combination to realize control and detection of the speed and position of the drive motor.

[0077] Optionally, the expression of the three-phase output voltage of the three-phase inverter is:

[0078]

[0079] Among them, [s a , s b , s c ] T Is the switch state, including [0,0,0] T , [1,0,0] T , [1,1,0] T , [0,1,0] T , [0,1,1] T , [0,0,1] T , [1,0,1] T and [1,1,1] T Eight switch states, V dc is the DC link voltage, [v a 、v b 、v c ] T is the phase voltage at the terminals.

[0080] Specifically, based on the basic principles of the finite set model predictive control algorithm, a FCS-MPC--PMSM simulation for satellite sail panel drive was built.

[0081] The inverter controls three bridges, each with two switches. The switches can have two switching states: top-on, bottom-off, and top-off, bottom-on, represented by 1 or 0. Switching devices: Switches in the same-phase bridge arms cannot be on simultaneously. A switching signal of 1 indicates the top arm is on and the bottom arm is off, while a signal of 0 indicates the top arm is off and the bottom arm is on. A two-level inverter has eight switching states. The optimal switching combination is selected and sent to the three-phase inverter to control the on-state of each switch on each bridge.

[0082] For the output voltage of the three-phase inverter, there are a total of eight phase voltage vectors (V000, V100, V110, V010, V011, V001, V101 and V111) in the alternative scheme of the two-level inverter. Therefore, the three-phase output voltage of the three-phase inverter is:

[0083]

[0084] Among them, [s a , s b , sc ] T Is the switch state, including [0,0,0] T , [1,0,0] T , [1,1,0] T , [0,1,0] T , [0,1,1] T , [0,0,1] T , [1,0,1] T and [1,1,1] T Eight switch states, V dc is the DC link voltage, [v a 、v b 、v c ] T is the phase voltage at the terminals.

[0085] Through coordinate transformation, it can be expressed as:

[0086]

[0087] Wherein, θ is the angle between the drive motor and the a-axis at this time.

[0088] The cost function of driving the motor is:

[0089] cost(i,1)=((isd_p)*(isd_p))+

[0090] ((isq_ref-isq_p)*(isq_ref-isq_p))

[0091] Among them, isd_p is the d-axis current prediction value calculated by a certain switch combination, isq_p is the q-axis current prediction value calculated by a certain switch combination, and isq_ref is the q-axis current reference value calculated by a certain switch combination.

[0092] Combine Figure 4 , directly compare the simulation results of FCS-MPC control with those of traditional field-oriented control (FOC) under the same conditions, Figure 4 The load torque in is 10N·m, Figure 4 The blue curve in the middle is the FCS-MPC response curve, and the red curve is the FOC response curve. It's clear that the FCS-MPC algorithm responds faster, with a rise time less than half that of FOC, and also settles faster. Therefore, the FCS-MPC algorithm has a clear advantage.

[0093] The above simulation uses the id=0 algorithm. Its advantages include simple calculations and the q-axis current as the input reference. However, it suffers from shortcomings such as slow response speed and steady-state behavior. Therefore, to address these shortcomings, the algorithm was improved, changing the original cost function to:

[0094] cost(i,1)=10*((isd_ref-isd_p)*(isd_ref-isd_p))+

[0095] 700*((isq_ref-isq_p)*(isq_ref-isq_p))

[0096] Where isd_ref is the d-axis current reference value calculated for a certain switch combination.

[0097] In order to make the comparison effect more obvious, the simulation environment for the two times was set to a load torque of 0.1 N·m, that is, maintained at a very low level, so that the stabilization effect of the control algorithm is more obvious. Figure 7 is a comparison chart of the simulation results of the two improved algorithms provided in the embodiment of the present invention, referring to Figure 7 , and finally the results of the two control algorithms are compared. Figure 7 shown.

[0098] in, Figure 7 The red curve in the figure is the algorithm before improvement, which only controls the q-axis current. Figure 7 The blue curve in the figure represents simultaneous control of the d and q axis currents. It is clear that during the two speed ramp-up periods, the id-iq combined control strategy responds nearly 10 times faster than iq control, while maintaining a much shorter settling time. Therefore, the algorithm's improved performance is quite significant.

[0099] Figure 8 is a schematic structural diagram of a satellite sailboard driving motor control device provided according to an embodiment of the present invention, with reference to Figure 8 The embodiment of the present invention further provides a control device for a satellite sailboard driving motor, the control device for a satellite sailboard driving motor comprising:

[0100] The expected speed determination module 201 is used to determine the expected speed of the drive motor according to the angular difference between the satellite sailboard and the target position and the expected time;

[0101] a switch combination determination module 202 for determining a specific switch combination of the three-phase inverter based on a finite set model predictive control algorithm and according to the desired rotational speed and mechanical angular velocity;

[0102] The control detection module 203 is configured to control and detect the speed and position of the drive motor according to a specific switch combination of the three-phase inverter.

[0103] The above-mentioned satellite sailboard driving motor control device can execute the satellite sailboard driving motor control method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the satellite sailboard driving motor control method.

[0104] Optionally, based on a finite set model predictive control algorithm and according to a desired rotational speed and a mechanical angular velocity, determining a specific switch combination of the three-phase inverter includes:

[0105] A three-phase inverter prediction model is constructed based on the relationship between the controlled variables and the switch combination of the three-phase inverter;

[0106] Constructing a cost function based on the reference value of the controlled quantity and the predicted value of the controlled quantity;

[0107] A specific switching combination of the three-phase inverter is determined according to the cost function.

[0108] Optionally, determining a specific switch combination of the three-phase inverter according to the cost function includes:

[0109] At the current moment, the predicted value of the controlled variable at the next moment is calculated based on the three-phase inverter prediction model;

[0110] Calculate the predicted value of the controlled variable at the next moment under the action of all effective switch combinations of the three-phase inverter according to the three-phase inverter prediction model;

[0111] A switch combination corresponding to a predicted value closest to the reference value of the controlled variable at the next moment is selected as a specific switch combination of the three-phase inverter.

[0112] Optionally, the cost function is expressed as:

[0113] fg{x*,x pi ,S i}, i = 1, 2, ... n

[0114] Among them, fg is the cost function, x* is the reference value of the controlled quantity, S i are all valid switch combinations of the three-phase inverter, and n is the number of all valid switch combinations of the three-phase inverter.

[0115] Optionally, the value of n is 8.

[0116] Optionally, the three-phase inverter includes three bridges, each bridge has two switching tubes, and the switching states of the switching tubes include upper open and lower closed and upper closed and lower open;

[0117] The speed and position of the drive motor are controlled and detected based on the specific switching combination of the three-phase inverter, including:

[0118] The specific switch combination is the optimal switch combination. The three-phase inverter controls the on-state of two switch tubes on each bridge according to the optimal switch combination to realize control and detection of the speed and position of the drive motor.

[0119] Optionally, the expression of the three-phase output voltage of the three-phase inverter is:

[0120]

[0121] Among them, [s a , s b , s c ] T Is the switch state, including [0,0,0] T , [1,0,0] T , [1,1,0] T , [0,1,0] T , [0,1,1] T , [0,0,1] T , [1,0,1] T and [1,1,1] T Eight switch states, V dc is the DC link voltage, [v a 、v b 、v c ] T is the phase voltage at the terminals.

[0122] Figure 9 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0123] like Figure 9As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0124] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0125] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the satellite sailboard drive motor control method.

[0126] In some embodiments, the satellite sailboard drive motor control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the satellite sailboard drive motor control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the satellite sailboard drive motor control method in any other appropriate manner (for example, by means of firmware).

[0127] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0128] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0129] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0130] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0131] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0132] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0133] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0134] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A satellite sailboard driving motor control method, characterized in that: include: Determine the expected speed of the drive motor according to the angle difference between the satellite sailboard and the target position and the expected time; Based on a finite set model predictive control algorithm and according to the desired rotational speed and mechanical angular velocity, determining a specific switch combination of the three-phase inverter; The speed and position of the drive motor are controlled and detected according to a specific switch combination of the three-phase inverter.

2. The method according to claim 1, characterized in that The method of determining a specific switch combination of the three-phase inverter based on the finite set model predictive control algorithm and the desired rotation speed and mechanical angular velocity includes: Constructing a three-phase inverter prediction model according to the relationship between the controlled quantity and the switch combination of the three-phase inverter; Constructing a cost function according to the reference value of the controlled quantity and the predicted value of the controlled quantity; A specific switch combination of the three-phase inverter is determined according to the cost function.

3. The method according to claim 2, characterized in that Determining the specific switch combination of the three-phase inverter according to the cost function includes: At the current moment, a predicted value of the controlled variable at the next moment is calculated according to the three-phase inverter prediction model; Calculating predicted values ​​of the controlled variables at the next moment under the action of all effective switch combinations of the three-phase inverter according to the three-phase inverter prediction model; A switch combination corresponding to a predicted value closest to the reference value of the controlled variable at the next moment is selected as the specific switch combination of the three-phase inverter.

4. The method according to claim 2, characterized in that: The expression of the cost function is: fg{x*,x pi ,S i },i=1,2,……n Among them, fg is the cost function, x* is the reference value of the controlled quantity, S i are all valid switch combinations of the three-phase inverter, and n is the number of all valid switch combinations of the three-phase inverter.

5. The method according to claim 4, characterized in that The value of n is 8.

6. The method according to claim 1, characterized in that The three-phase inverter includes three bridges, each bridge has two switch tubes, and the switch states of the switch tubes include upper open and lower closed and upper closed and lower open; The controlling and detecting the speed and position of the driving motor according to the specific switch combination of the three-phase inverter includes: The specific switch combination is an optimal switch combination. The three-phase inverter controls the on-state of two switch tubes on each bridge according to the optimal switch combination to achieve control and detection of the speed and position of the drive motor.

7. The method according to claim 6, characterized in that The expression of the three-phase output voltage of the three-phase inverter is: Among them, [s a ,s b ,s c ] T Is the switch state, including [0,0,0] T , [1,0,0] T , [1,1,0] T , [0,1,0] T , [0,1,1] T , [0,0,1] T , [1,0,1] T and [1,1,1] T Eight switch states, V dc is the DC link voltage, [v a 、v b 、v c ] T is the phase voltage at the terminals.

8. A control device for a satellite sailboard driving motor, characterized in that: include: An expected speed determination module is used to determine an expected speed of the drive motor according to an angular difference between the satellite sailboard and the target position and an expected time; A switch combination determination module, for determining a specific switch combination of the three-phase inverter based on a finite set model predictive control algorithm and according to the desired rotation speed and mechanical angular velocity; A control detection module is used to control and detect the speed and position of the drive motor according to a specific switch combination of the three-phase inverter.

9. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

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

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