Unconstrained optimization model prediction open winding permanent magnet synchronous motor control method and system

Abstract

The invention relates to the field of motor control and simulation, and discloses an unconstrained optimization model prediction open-winding permanent magnet synchronous motor control method, which comprises the following steps: S1, constructing a voltage vector space of an open-winding permanent magnet synchronous motor, the voltage vector space being generated by the on-off state combination of double inverters; s2, based on an unconstrained optimization model predictive control algorithm, an optimal voltage vector is screened in the voltage vector space by using a minimum error principle, and the screening is optimized by adopting initial triangle selection, reflection operation and contraction operation; s3, inputting the optimal voltage vector into double inverters, and driving the open-winding permanent magnet synchronous motor to operate; and S4, dynamically adjusting the screening process of the optimal voltage vector according to the real-time current feedback of the open-winding permanent magnet synchronous motor. In the aspect of control strategies, compared with traditional model prediction control, the provided strategies can more quickly screen the optimal voltage, and the calculation complexity of the DSP is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control and simulation, and in particular to an unconstrained optimization model prediction open-winding permanent magnet synchronous motor control method and system. Background Art

[0002] The demand for energy and its development and utilization in modern society have promoted the rapid development of new electric traction technology. Electric transmission equipment has received extensive attention in terms of stability, operating range, control performance and operating efficiency. In order to meet the needs of different working conditions, the design and establishment of motor control solutions have put forward higher requirements on the stability and reliability of the motor drive system and the reasonable motor topology structure.

[0003] Permanent magnet synchronous motor (PMSM) is widely used in electric vehicles, more electric aircraft and other fields due to its simple structure, high power density and excellent dynamic performance. However, in situations where the motor has a large power output demand, it is often necessary to increase the current due to the supply voltage, resulting in reduced efficiency and increased size. The open-winding permanent magnet synchronous motor (OW-PMSM) provides an innovative solution that expands the speed range, reduces torque, improves efficiency and reduces size by increasing the voltage level, and increases the continuous output power in the weak magnetic field area.

[0004] Open-winding permanent magnet synchronous motors have significant research value in the field of transportation electrification due to their flexibility and reliability. However, the structure of the open-winding motor itself is relatively complex, and its test system requires more equipment, which increases the test volume and cost. In the control system of open-winding permanent magnet synchronous motors, the model predictive control (MPC) strategy has become a research hotspot in recent years due to its multi-variable and multi-constrained optimization capabilities. Common model predictive control includes continuous control set model predictive control (CCS-MPC) and finite control set model predictive control (FCS-MPC). CCS-MPC solves the optimal voltage vector through optimization problems and generates switching signals using pulse width modulators; FCS-MPC directly uses the discrete switching states of the inverter to select the switching state with the smallest cost function. Although MPC has the advantages of high control accuracy, strong flexibility, and the ability to optimize energy efficiency, its high real-time computational complexity, strong dependence on system models, and real-time problems in hardware implementation limit its application in high-speed motor control.

[0005] Traditional open-winding permanent magnet synchronous motor control requires two inverters, each of which has eight switching states, and the dual-inverter system has a total of 19 voltage vectors. In this case, the computational complexity of selecting the optimal voltage vector is high, which makes it difficult to meet the needs of efficient real-time control. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an unconstrained optimization model predictive open-winding permanent magnet synchronous motor control method and system, which solves the problem of high complexity in voltage vector calculation in the prior art.

[0007] To achieve the above objectives, the present invention is implemented by the following technical solutions: an unconstrained optimization model predicts an open-winding permanent magnet synchronous motor control method, comprising the following steps:

[0008] S1. constructing a voltage vector space of an open-winding permanent magnet synchronous motor, wherein the voltage vector space is generated by combining the switching states of the dual inverters;

[0009] S2. Based on the unconstrained optimization model predictive control algorithm, the optimal voltage vector is screened in the voltage vector space by using the minimum error principle, wherein the initial triangle selection, reflection operation and contraction operation are used for optimization and screening;

[0010] S3, inputting the optimal voltage vector into the dual inverter to drive the open-winding permanent magnet synchronous motor to operate;

[0011] S4. According to the real-time current feedback of the open-winding permanent magnet synchronous motor, the screening process of the optimal voltage vector is dynamically adjusted to complete high-precision current control and reduce the number of inverter switch state switching times.

[0012] Preferably, the unconstrained optimization model predictive control algorithm in step S2 includes the following steps:

[0013] S21, selecting an initial triangle in the voltage vector space as an optimization starting point, and determining the vertices of the triangle according to error calculation;

[0014] S22, replacing the vertex with the largest corresponding error with a new vertex through a reflection operation to form a new optimization region;

[0015] S23, when the error cannot be reduced or the vertex appears in the boundary area, performing a shrinking operation to reduce the optimization area to the diamond area;

[0016] S24, repeat the above steps until the optimal voltage vector that satisfies the minimum error is screened out.

[0017] Preferably, in the step S2, the voltage vector space is generated by 19 dual inverter switch states, and is divided into fixed sectors by sectors and then optimized and screened, thereby reducing computational complexity.

[0018] Preferably, the selection of the optimal voltage vector in step S2 is based on the principle of reducing the number of switching times of the inverter switch state.

[0019] Preferably, the control process in the steps S1-S4 is iteratively optimized by dynamically calculating the current error and optimizing the cost function value, and the smaller the cost function value, the higher the corresponding motor operating efficiency.

[0020] A control system for an open-winding permanent magnet synchronous motor, comprising:

[0021] The motor simulation module is used to simulate the dynamic characteristics of flux, voltage, current and torque of open-winding permanent magnet synchronous motors based on a discrete mathematical model, and supports dynamic parameter adjustment under multiple working conditions;

[0022] A motor drive module, used to apply a drive voltage to an open-winding permanent magnet synchronous motor through a dual inverter according to a control signal, wherein the dual inverter adopts a common DC bus structure and realizes current drive through multi-state switching;

[0023] A control module is used to implement an unconstrained optimization model predictive control algorithm, generate an optimal voltage vector based on real-time feedback current and voltage signals, and output a drive signal;

[0024] The signal acquisition module is used to collect the voltage and current signals of the motor port in real time, and convert the signals into high-precision digital quantities through analog-to-digital conversion and filtering circuits and transmit them to the control module;

[0025] The analog side control circuit is used to correct the error between the command current and the actual output current, and make the output current port characteristics consistent with the target motor through PI controller and PWM adjustment.

[0026] Preferably, the control module adopts an unconstrained optimization model predictive control algorithm to select the optimal voltage vector through an error evaluation function.

[0027] Preferably, the motor simulation module can dynamically update the flux, voltage and current characteristics of the motor, and support operation status simulation under different speeds and load conditions.

[0028] Preferably, the signal acquisition module acquires three-phase voltage and current signals through an analog-to-digital converter, and reduces the influence of electromagnetic noise through an anti-interference circuit.

[0029] Preferably, the analog side control circuit includes:

[0030] PI controller, used to calculate the control output based on the error between the command current and the actual current;

[0031] The PWM pulse generator is used to adjust the port current of the analog converter according to the output signal of the PI controller so that it is consistent with the port characteristics of the target motor.

[0032] The present invention provides an unconstrained optimization model predictive open-winding permanent magnet synchronous motor control method and system. It has the following beneficial effects:

[0033] 1. In terms of control strategy, compared with traditional model predictive control, the proposed strategy can screen the optimal voltage more quickly and effectively reduce the calculation complexity of DSP.

[0034] 2. In the aspect of motor simulation, the conventional motor driver of the present invention often needs to form an experimental platform together with the motor and the motor mechanical load to carry out the operation experiment of the motor under various operating conditions. Although the rotating motor is easy to obtain, the mechanical load of the motor is not easy to achieve under laboratory conditions. However, the numerical value of the simulated OW-PMSM power electronic load reflects the mechanical port characteristics of the motor and realizes the digital setting of the motor mechanical load; at the same time, the power electronic converter is used to simulate the electrical port characteristics between the motor and the driving power supply. Once the actual motor leaves the factory, its body parameters are basically fixed and difficult to adjust. The generation of the motor load also depends on a complex electromechanical system to generate various mechanical loads acting on the mechanical axis of the motor. The various motor body parameters and mechanical load torques of the motor simulator are purely digital quantities and can be manually set and modified, so that they can be used for the adaptability experiment of the motor driver to test the applicability of the motor driver when driving motors of various different parameters and dragging various mechanical loads.

[0035] 3. Compared with the existing open-winding permanent magnet synchronous motor simulation system, the existing open-winding permanent magnet synchronous motor simulation side requires four sets of inverters, and energy transmission must be carried out through the power grid, while the present invention only needs one set of inverters and one DC power supply on the motor simulation side to achieve the simulation of the three-phase current of the motor. In addition, the present invention can accurately simulate the open-winding permanent magnet synchronous motor, and can be used to simulate the speed regulation system of the open-winding permanent magnet synchronous motor, which is more flexible and comprehensive, and has the advantages of high system accuracy, small size, low cost, and easy use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a diagram of the method steps of the present invention;

[0037] Figure 2 It is a schematic diagram of the open-winding permanent magnet synchronous motor simulation system of the present invention;

[0038] Figure 3 Schematic diagram of spatial distribution of 19 voltage vectors of the dual inverter of the present invention;

[0039] Figure 4 It is a segment diagram of the A fixed sector and the B fixed sector of the present invention;

[0040] Figure 5 It is a schematic diagram of the position of the initial triangle of the present invention;

[0041] Figure 6A schematic diagram of a triangle after reflection of the present invention;

[0042] Figure 7 It is a schematic diagram of a diamond after contraction of the present invention;

[0043] Figure 8 It is a system block diagram of the open-winding permanent magnet synchronous motor of the present invention. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments 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 creative work are within the scope of protection of the present invention.

[0045] Embodiment 1:

[0046] Please see attached Figure 1 , the embodiment of the present invention provides the following steps:

[0047] S1. constructing a voltage vector space of an open-winding permanent magnet synchronous motor, wherein the voltage vector space is generated by combining the switching states of the dual inverters;

[0048] S2. Based on the unconstrained optimization model predictive control algorithm, the optimal voltage vector is screened in the voltage vector space by using the minimum error principle, wherein the initial triangle selection, reflection operation and contraction operation are used for optimization and screening;

[0049] S3, inputting the optimal voltage vector into the dual inverter to drive the open-winding permanent magnet synchronous motor to operate;

[0050] S4. According to the real-time current feedback of the open-winding permanent magnet synchronous motor, the screening process of the optimal voltage vector is dynamically adjusted to complete high-precision current control and reduce the number of inverter switch state switching times.

[0051] Specifically, unconstrained optimization model predictive control:

[0052] The phase voltage applied to the three-phase stator winding of the open-winding permanent magnet synchronous motor is:

[0053]

[0054] where u a1 、u a2 、u b1 、u b2 、u c1 、u c2 is the voltage applied by the inverter to the stator windings, which is related to the switch state. The switch state function is defined as S xy=1 means the upper bridge arm is turned on, S xy =0 when the lower bridge arm is turned on:

[0055]

[0056] Where: a, b and c represent the bridge arms of the three-phase inverter respectively; 1 and 2 represent the upper and lower switches of the same bridge arm.

[0057] We can get:

[0058]

[0059] It can be seen from the above formula that these three level states exist in the common DC bus structure, which is more conducive to improving the motor speed regulation range compared to the single inverter power supply system.

[0060] The voltage space vectors of the two inverters in the common DC bus structure are defined as:

[0061]

[0062] Combining the above formulas, the basic voltage vector synthesized by the dual inverters in the common bus structure can be expressed as:

[0063]

[0064] From the perspective of the dual inverter structure, there are 19 switching states, which can form 19 different voltage space vectors.

[0065] The non-zero voltage vectors are distributed at these points of HJLNQS. According to the principle of voltage vector synthesis, the synthesized voltage vectors are 2U dc / 3, 4U dc / 3. The spatial distribution of the 19 voltage vectors of the dual inverter is as follows: Figure 3 shown.

[0066] In order to facilitate sector judgment, the vector plane is refined into six irregular quadrilaterals centered at points A, B, C, D, E, and F. Considering that power electronic converters usually work in harsh and complex environments, the failure rate of semiconductor devices in power electronic converters is about 21%, which has become one of the main reasons threatening the stable operation of the inverter. Therefore, the voltage vector that can minimize the number of inverter switches is selected in each quadrilateral area. Therefore, the sectors are divided into three A fixed sectors and three B fixed sectors. The sector classification and the representative synthetic vector of each vector are as follows Figure 4 As shown. The irregular trapezoidal sectors ①, ③ and ⑤ centered on B, D and F are called B fixed sectors. The irregular trapezoidal sectors ②, ④ and ⑥ centered on C, E and A are called A fixed sectors.

[0067] Then, this implementation will adopt a model predictive current control based on the simplex algorithm for unconstrained optimization, take the current control effect as the evaluation index, and use the simplex algorithm for unconstrained optimization to search for the optimal voltage vector.

[0068] The first step is to select the initial triangle.

[0069] In order to further reduce the amount of calculation, the initial triangle △ABC is selected at the center of the voltage vector diagram, as shown in Figure 5 Calculate the current control error corresponding to the voltage vector at each vertex of the triangle and compare to get the largest value among the three values.

[0070] Step 2, reflection.

[0071] From the first step, we can get the voltage vector with the largest current control error among the three vertices of the triangle. Therefore, according to the unconstrained optimization algorithm, the coordinates of the worst vertex are reflected with the line connecting the other two vertices as the symmetry axis, and a new triangle is constructed. Assuming that the worst point is point C, the position of the new triangle △ABD after reflection is as follows: Figure 6 If the new vertex is still the worst value or there are two vertices in the vector Figure 6 If the polygon is on the boundary or outside the boundary, the second step iteration ends and proceeds to the next step; otherwise, the second step iteration is repeated.

[0072] Step three, contraction.

[0073] If the new vertex is still the worst value, the optimal voltage vector is located in the diamond based on the contraction of the new and old triangles. Figure 6 For example, if point D is still the worst vertex, shrink the rhombus ACBD to rhombus AEBF, such as Figure 7 As shown. For △ABC, the error at point C is the largest, so the optimal vector is within the 120° area corresponding to ∠AEB; for △ABD, the error at point D is the largest, so the optimal vector is within the 120° area corresponding to ∠AFB. The overlapping area of ​​the above 120° areas is the rhombus AEBF, so the optimal vector is within the rhombus. Among the voltage vectors corresponding to the four vertices of the rhombus AEBF, the one with the smallest current control error is selected as the optimal voltage vector. According to the above steps, the optimal voltage vector for current control can be obtained with only at most 7 calculations.

[0074] Then, the selected optimal voltage vector is input into the open-winding permanent magnet synchronous motor through the dual inverter. The system control block diagram of the open-winding permanent magnet synchronous motor is shown in the figure below: Figure 8 shown.

[0075] Embodiment 2:

[0076] Please see attached Figure 2, an embodiment of the present invention provides a control system for an open-winding permanent magnet synchronous motor, comprising:

[0077] The motor simulation module is used to simulate the dynamic characteristics of flux, voltage, current and torque of open-winding permanent magnet synchronous motors based on a discrete mathematical model, and supports dynamic parameter adjustment under multiple working conditions;

[0078] A motor drive module, used to apply a drive voltage to an open-winding permanent magnet synchronous motor through a dual inverter according to a control signal, wherein the dual inverter adopts a common DC bus structure and realizes current drive through multi-state switching;

[0079] A control module is used to implement an unconstrained optimization model predictive control algorithm, generate an optimal voltage vector based on real-time feedback current and voltage signals, and output a drive signal;

[0080] The signal acquisition module is used to collect the voltage and current signals of the motor port in real time, and convert the signals into high-precision digital quantities through analog-to-digital conversion and filtering circuits and transmit them to the control module;

[0081] The analog side control circuit is used to correct the error between the command current and the actual output current, and make the output current port characteristics consistent with the target motor through PI controller and PWM adjustment.

[0082] Specifically, the open-winding permanent magnet synchronous motor speed control system opens the neutral point of the traditional permanent magnet synchronous motor, selects the common DC bus structure for power supply, and adopts dual inverter drive control. Figure 2 As shown in the figure, compared with the actual open-winding permanent magnet synchronous motor system, the simulation system has one more set of inverters and no motor body. The whole system simulates the speed and torque characteristics of the motor through the master control DSP, and uses the inverter on the slave control DSP simulation side to simulate the current characteristics of the motor. The simulation of the open-winding permanent magnet synchronous motor can be achieved by using the corresponding method on the system.

[0083] like Figure 2The present invention proposes a new type of power electronic load simulating an open-winding permanent magnet synchronous motor. The motor simulation module is connected to the motor control under test and is used to simulate various operating states of the open-winding permanent magnet synchronous motor; the resistive-inductive load consumes energy; the signal acquisition module is used to collect the current of the motor simulator and the voltage of the motor simulation module for sampling and sorting, and input them to the control module for real-time control of the motor simulation; the control module is connected to the drive module, and the control module performs signal processing and related calculations and inputs them to the drive module; the drive module is used to transmit a drive signal to the motor simulator. The motor simulation circuit is composed of a PWM converter, and the port current is controlled according to the current change of the real motor connected to the system to achieve the simulation of the motor port characteristics. The signal acquisition module collects the output voltage of the controller of the motor under test in real time. The analog side control module compares the command current with the sampled current to make its port characteristics consistent with the actual motor. The command current formula and the Euler discretization mathematical model are written into the motor simulation module. The control module is composed of two TMS320F28335 chips produced by TI and corresponding peripheral circuits, wherein one TMS320F28335 chip is used as a master control chip, and the other TMS320F28335 chip is used as a slave control chip of the simulation system.

[0084] The motor driver under test is connected to the analog converter through a resistive-inductive load, wherein the resistive-inductive load bears the energy consumption. The three-phase voltage of the controlled motor controller is collected through a voltage sampling module, and the obtained three-phase voltage analog quantity is converted into a digital quantity, and the digital quantity is sent to the motor real-time simulator for mathematical operation to obtain the real-time running state of the motor. The three-phase current of the analog converter is collected through a sampling module, and the obtained three-phase current analog quantity is converted into a digital quantity, and the obtained digital quantity is subtracted from the digital quantity of the three-phase current of the open-winding permanent magnet synchronous motor obtained in the motor real-time simulator, and the difference is input into the PI controller in the analog side control circuit, the input side of the PWM pulse generator is connected to the output of the PI controller, and the control signal on the output side controls the on-off of the IGBT in the single-phase PWM rectifier circuit in the analog converter, so that the three-phase current on the analog converter side tracks the three-phase current of the open-winding permanent magnet synchronous motor to be consistent, and the three-phase current sampled by the analog converter is the three-phase current of the open-winding permanent magnet synchronous motor.

[0085] The method for establishing the discretized mathematical model of the open-winding permanent magnet synchronous motor of the present invention is as follows:

[0086] (I) Magnetic flux equation

[0087] In the abc coordinate system, the flux equation of the open-winding permanent magnet synchronous motor is:

[0088]

[0089] Among them, ψ n , ψ fn , L n ,i n (n=a, b, c) represent the flux of the three-phase winding, the flux component of the abc axis, the self-inductance and the current respectively; M ab 、M ac 、M ba 、M bc 、M ca 、M cb Represents the mutual inductance of the three-phase winding. For the open-winding permanent magnet synchronous motor studied in this implementation, the self-inductance and mutual inductance are equal, that is, L a =L b =L c =L, M ab =M ac =M ba =M bc =M ca =M cb =M.

[0090] In addition, the influence of the third harmonic component in the open-winding permanent magnet synchronous motor system cannot be ignored, so its influence needs to be considered when establishing the mathematical model. fn (n=a,b,c) can be expressed as:

[0091]

[0092] Among them, ψ f and ψ f3 They represent the fundamental amplitude and the third harmonic component amplitude of the flux respectively.

[0093] In the dq0 coordinate system, the flux equation of the open-winding permanent magnet synchronous motor is:

[0094]

[0095] Among them, ψ n , L n ,i n (n=d,q,0) represents the flux, inductance and current of the dq0 axis respectively.

[0096] In addition, L d =L q =L,L0=L-2M.

[0097] (II) Voltage equation

[0098] In the abc coordinate system, the voltage equation of the open-winding permanent magnet synchronous motor is:

[0099]

[0100] Among them, u n ,e n , R(n=a,b,c) respectively represent the voltage, back electromotive force and resistance of the three-phase winding of the motor, e n (n=a,b,c) can be expressed as:

[0101]

[0102] In the dq0 coordinate system, the voltage equation of the open-winding permanent magnet synchronous motor is:

[0103]

[0104] Among them, u n (n=d,q,0) represents the dq0 axis voltage of the three-phase winding.

[0105] From the 0-axis voltage equation, it can be seen that the open-winding permanent magnet synchronous motor system also needs to consider the problem of zero-sequence current suppression. In the equation, u0, i0, L0, 3ω e ψ f3 sin(3θ e ) represent the zero-sequence voltage excitation source, zero-sequence current, zero-sequence inductance and third harmonic back electromotive force respectively.

[0106] (III) Torque equation

[0107] In the abc coordinate system, the torque equation of the open-winding permanent magnet synchronous motor is:

[0108]

[0109] Among them, ω m Indicates the mechanical angular velocity of the motor rotor.

[0110] In the dq0 coordinate system, the torque equation of the open-winding permanent magnet synchronous motor is:

[0111]

[0112] Wherein, P represents the number of permanent magnet pole pairs.

[0113] (IV) Mechanical motion equations

[0114] The mechanical motion equation of an open-winding permanent magnet synchronous motor is:

[0115]

[0116] Among them, T L , J, B represent the load torque, moment of inertia and friction coefficient of the rotor during operation respectively.

[0117] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unconstrained optimization model predicts an open-winding permanent magnet synchronous motor control method, characterized in that: The following steps are involved: S1. constructing a voltage vector space of an open-winding permanent magnet synchronous motor, wherein the voltage vector space is generated by combining the switching states of the dual inverters; S2. Based on the unconstrained optimization model predictive control algorithm, the optimal voltage vector is screened in the voltage vector space by using the minimum error principle, wherein the initial triangle selection, reflection operation and contraction operation are used for optimization and screening; S3, inputting the optimal voltage vector into the dual inverter to drive the open-winding permanent magnet synchronous motor to operate; S4. According to the real-time current feedback of the open-winding permanent magnet synchronous motor, the screening process of the optimal voltage vector is dynamically adjusted to complete high-precision current control and reduce the number of inverter switch state switching times.

2. The unconstrained optimization model predictive open-winding permanent magnet synchronous motor control method according to claim 1, characterized in that: The unconstrained optimization model predictive control algorithm in step S2 includes the following steps: S21, selecting an initial triangle in the voltage vector space as an optimization starting point, and determining the vertices of the triangle according to error calculation; S22, replacing the vertex with the largest corresponding error with a new vertex through a reflection operation to form a new optimization region; S23, when the error cannot be reduced or the vertex appears in the boundary area, performing a shrinking operation to reduce the optimization area to the diamond area; S24, repeat the above steps until the optimal voltage vector that satisfies the minimum error is screened out.

3. The unconstrained optimization model predictive open-winding permanent magnet synchronous motor control method according to claim 1, characterized in that: In the step S2, the voltage vector space is generated by 19 dual inverter switch states, and is divided into fixed sectors by sectors and then optimized and screened, thereby reducing the computational complexity.

4. The unconstrained optimization model predictive open-winding permanent magnet synchronous motor control method according to claim 1, characterized in that: The selection of the optimal voltage vector in step S2 is based on the principle of reducing the number of switching times of the inverter switch state.

5. The unconstrained optimization model predictive open-winding permanent magnet synchronous motor control method according to claim 1, characterized in that: The control process in the steps S1-S4 is iteratively optimized by dynamically calculating the current error and optimizing the cost function value. The smaller the cost function value, the higher the corresponding motor operating efficiency.

6. A control system for an open-winding permanent magnet synchronous motor, according to the unconstrained optimization model prediction open-winding permanent magnet synchronous motor control method according to any one of claims 1 to 5, characterized in that: include: The motor simulation module is used to simulate the dynamic characteristics of flux, voltage, current and torque of open-winding permanent magnet synchronous motors based on a discrete mathematical model, and supports dynamic parameter adjustment under multiple working conditions; A motor drive module, used to apply a drive voltage to an open-winding permanent magnet synchronous motor through a dual inverter according to a control signal, wherein the dual inverter adopts a common DC bus structure and realizes current drive through multi-state switching; A control module is used to implement an unconstrained optimization model predictive control algorithm, generate an optimal voltage vector based on real-time feedback current and voltage signals, and output a drive signal; The signal acquisition module is used to collect the voltage and current signals of the motor port in real time, and convert the signals into high-precision digital quantities through analog-to-digital conversion and filtering circuits and transmit them to the control module; The analog side control circuit is used to correct the error between the command current and the actual output current, and make the output current port characteristics consistent with the target motor through PI controller and PWM adjustment.

7. The control system of an open-winding permanent magnet synchronous motor according to claim 6, characterized in that: The control module adopts an unconstrained optimization model predictive control algorithm and selects the optimal voltage vector through an error evaluation function.

8. The control system of an open-winding permanent magnet synchronous motor according to claim 6, characterized in that: The motor simulation module can dynamically update the motor's flux, voltage and current characteristics, and supports operation status simulation under different speeds and load conditions.

9. The control system of an open-winding permanent magnet synchronous motor according to claim 6, characterized in that: The signal acquisition module acquires three-phase voltage and current signals through an analog-to-digital converter and reduces the influence of electromagnetic noise through an anti-interference circuit.

10. The control system of an open-winding permanent magnet synchronous motor according to claim 6, characterized in that: The analog side control circuit comprises: PI controller, used to calculate the control output based on the error between the command current and the actual current; The PWM pulse generator is used to adjust the port current of the analog converter according to the output signal of the PI controller so that it is consistent with the port characteristics of the target motor.

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