Matrix motor model predictive current fault-tolerant control methods, systems, equipment, and media

Abstract

This invention discloses a matrix motor model predictive current fault-tolerant control method, system, device, and medium, comprising: acquiring the phase currents of the five-phase stator windings and the three-phase rotor windings; predicting the stator-side d-q axis currents and the rotor-side d-q axis currents based on the phase currents of the five-phase stator windings and the three-phase rotor windings; constructing a value function based on the predicted stator-side d-q axis currents and the rotor-side d-q axis currents; solving the value function to obtain the optimal switching vector; and controlling the fault-tolerant operation of the motor through an inverter based on the optimal switching vector. This method, system, device, and medium involve relatively low computational complexity.

Description

Technical Field

[0001] This invention belongs to the field of motor control technology and relates to a matrix motor model predictive current fault-tolerant control method, system, equipment and medium. Background Technology

[0002] Matrix motors have two sets of windings and two sets of permanent magnets. The stator and rotor windings are five-phase and three-phase, respectively, and the permanent magnets use a Halbach array. This matrix motor not only possesses high efficiency and high power density, but also excellent high reliability and fault-tolerant operation, showing broad application potential. When a motor fault occurs, model predictive current control is performed. The decoupling matrix, prediction model, and control set all differ from those under normal operating conditions. Traditional model predictive current control methods face challenges such as fixed positions and constant amplitudes of candidate vectors, a large number of candidate vectors, and high computational complexity during motor faults.

[0003] Specifically, the decoupling matrix for a two-phase open-circuit fault on the stator side of the motor, and the mathematical model equation in the rotating coordinate system;

[0004] Taking phases B and E as an example (open circuit):

[0005] The reduced-order Clark transformation matrix is:

[0006]

[0007] The reduced-order Park transformation matrix is:

[0008]

[0009] Voltage equation:

[0010]

[0011] The flux linkage equation is:

[0012]

[0013] in, θ es For the stator-side motor electrical angle, u ds u qs These are the stator dq-axis voltages, u dr u qr These are the rotor dq-axis voltages, respectively; i ds i qs These are the stator dq-axis currents, i dr i qr These are the rotor dq-axis currents, respectively; ψ ds ψ qs These are the dq-axis components of the stator flux linkage, ψ dr ψqr These are the dq-axis components of the rotor flux linkage, respectively; L ds L qs These are the stator dq axis inductances, L dr L qr These are the rotor dq axis inductances, respectively; R s R r These are the stator and rotor resistances, respectively; ψ sf ψ rf These are the stator and rotor permanent magnet flux linkages, respectively; ω es ω er These represent the stator and rotor electric angular velocities, respectively; M is the fundamental amplitude of the mutual inductance between the stator and rotor windings, and θ... f The initial phase angle difference between the stator and rotor flux linkages.

[0014] 2) Based on the voltage equation and flux linkage equation, the current state equations for the stator and rotor sections are obtained;

[0015] The current state equation for the stator section is:

[0016]

[0017] The current state equation for the rotor section is:

[0018]

[0019] 3) The current state equations of the stator and rotor are discretized using the first-order Euler discretization method.

[0020] Using the first-order Euler discretization method to obtain the current state equations for the stator section, we get:

[0021]

[0022] The current state equation of the rotor section is discretized using the first-order Euler discretization method, resulting in:

[0023]

[0024] Where k represents time k, Ts represents the sampling period, and the current with subscript (k+1) represents the predicted current value at time (k+1).

[0025] 4) Traditional model predictive current control when two phases of the stator are open-circuited;

[0026] Traditional model predictive current control typically calculates u using the driver switching vector based on the first-order discretized stator and rotor current state equations. ds1 u qs1 u dr and u qrThe phase current at time k is obtained through a current sensor, and then the dq-axis current in the corresponding rotating coordinate system is obtained through coordinate transformation. From this, the dq-axis current at time (k+1), i.e., the "predicted current," is calculated. Subsequently, the optimal switch vector combination is obtained based on the following value function. (See also...) Figure 1 The stator section of the five-phase inverter has five bridge arms. When phases B and E experience an open-circuit fault, only three bridge arms remain, for a total of 2... 3 Type of switching vector; the rotor section of the three-phase inverter has three bridge arms, with a total of 2 3 A type of switch vector.

[0027]

[0028] V i ∈{V1...V6,V0,V7}U i ∈{U1...U6,U0,U7}

[0029] From the first-order Euler discretized stator and rotor current state equations, it can be seen that in calculating i ds (k+1),i qs When (k+1), the right side of the equation includes not only the stator dq-axis voltage but also the rotor dq-axis voltage. Calculate i dr (k+1),i qr The same applies when (k+1); therefore, there are a total of 2 when there is a two-phase open-circuit fault in the stator winding. 3 ×2 3 =2 6 A type of switch vector, instead of 2 3 +2 3 =2 4 Similarly, this will undoubtedly bring a huge amount of computation. Summary of the Invention

[0030] The purpose of this invention is to overcome the shortcomings of the prior art and provide a matrix motor model predictive current fault-tolerant control method, system, device and medium with less computational load.

[0031] To achieve the above objectives, this invention discloses a matrix motor model predictive current fault-tolerant control method, comprising:

[0032] Obtain the phase currents of the five-phase stator windings and the phase currents of the three-phase rotor windings;

[0033] Predict the stator-side dq current and the rotor-side dq axis current based on the phase currents of the five-phase stator windings and the three-phase rotor windings.

[0034] Based on the predicted stator-side dq current and rotor-side dq shaft current, a value function is constructed.

[0035] Solving the value function yields the optimal switching vector;

[0036] Based on the optimal switching vector, the inverter controls the fault-tolerant operation of the motor.

[0037] Furthermore, the process of predicting the stator-side dq current and the rotor-side dq shaft current based on the phase currents of the five-phase stator windings and the three-phase rotor windings is as follows:

[0038] The phase currents of the five-phase stator windings and the three-phase rotor windings are subjected to Clark / Park transformation to obtain i qs (k), i ds (k) and i qr (k), i qr (k);

[0039] According to the i qs (k), i ds (k) and i qr (k), i qr (k) Predict stator-side and rotor-side i ds (k+1),i qs (k+1),i dr (k+1) and i qr (k+1).

[0040] Furthermore, the stator side and rotor side i ds (k+1),i qs (k+1),i dr (k+1) and i qr (k+1) are respectively:

[0041]

[0042]

[0043] Among them, u ds u qs These are the stator dq-axis voltages, u dr u qr These are the rotor dq-axis voltages, respectively; i ds i qs These are the stator dq-axis currents, i dr i qr These are the rotor dq-axis currents, respectively; ψ ds ψ qs These are the dq-axis components of the stator flux linkage, ψ dr ψ qr These are the dq-axis components of the rotor flux linkage, respectively; L ds Lqs These are the stator dq axis inductances, L dr L qr These are the rotor dq axis inductances, respectively; R s R r These are the stator and rotor resistances, respectively; ψ sf ψ rf These are the stator and rotor permanent magnet flux linkages, respectively; ω es ω er These are the stator and rotor electric angular velocities, respectively; M is the fundamental amplitude of the mutual inductance between the stator and rotor windings.

[0044] Furthermore, the value function is:

[0045]

[0046] in,

[0047]

[0048] Furthermore, the value function is solved using a distribution prediction method to obtain the optimal switching vector.

[0049] This invention discloses a matrix-type motor model predictive current fault-tolerant control system, comprising:

[0050] The acquisition module is used to acquire the phase currents of the five-phase stator windings and the three-phase rotor windings;

[0051] The prediction module is used to predict the stator-side dq current and the rotor-side dq shaft current based on the phase currents of the five-phase stator windings and the phase currents of the three-phase rotor windings.

[0052] The module is used to construct the value function based on the predicted stator-side dq current and rotor-side dq shaft current;

[0053] The solution module is used to solve the value function to obtain the optimal switching vector;

[0054] The control module is used to control the fault-tolerant operation of the motor through the inverter according to the optimal switching vector.

[0055] Furthermore, the process of predicting the stator current and rotor current based on the phase currents of the five-phase stator windings and the three-phase rotor windings is as follows:

[0056] The phase currents of the five-phase stator windings and the three-phase rotor windings are subjected to Clark / Park transformation to obtain i qs (k), i ds (k) and i qr (k), i qr(k);

[0057] According to the i qs (k), i ds (k) and i qr (k), i qr (k) Predict stator-side and rotor-side i ds (k+1),i qs (k+1),i dr (k+1) and i qr (k+1).

[0058] Furthermore, the stator side and rotor side i ds (k+1),i qs (k+1),i dr (k+1) and i qr (k+1) are respectively:

[0059]

[0060] Among them, u ds u qs These are the stator dq-axis voltages, u dr u qr These are the rotor dq-axis voltages, respectively; i ds i qs These are the stator dq-axis currents, i dr i qr These are the rotor dq-axis currents, respectively; ψ ds ψ qs These are the dq-axis components of the stator flux linkage, ψ dr ψ qr These are the dq-axis components of the rotor flux linkage, respectively; L ds L qs These are the stator dq axis inductances, L dr L qr These are the rotor dq axis inductances, respectively; R s R r These are the stator and rotor resistances, respectively; ψ sf ψ rf These are the stator and rotor permanent magnet flux linkages, respectively; ω es ω er These are the stator and rotor electric angular velocities, respectively; M is the fundamental amplitude of the mutual inductance between the stator and rotor windings.

[0061] The present invention discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the matrix motor model predictive current fault-tolerant control method.

[0062] The present invention discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the matrix motor model predictive current fault-tolerant control method.

[0063] The present invention has the following beneficial effects:

[0064] In practical operation, the matrix motor model predictive current fault-tolerant control method, system, device, and medium described in this invention obtain the phase currents of the five-phase stator windings and the three-phase rotor windings, construct a value function based on the predicted stator-side dq current and rotor-side dq axis current, solve the value function to obtain the optimal switching vector, and control the fault-tolerant operation of the motor through the inverter based on the optimal switching vector. The operation is convenient, simple, and highly practical. Attached Figure Description

[0065] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0066] Figure 1 This is a schematic diagram of a stator-rotor driven inverter;

[0067] Figure 2 This is a schematic diagram of the predictive current control fault-tolerant control for the motor model.

[0068] Figure 3 This is a schematic diagram of the fundamental spatial voltage vector distribution after two phases on the stator side are open-circuited.

[0069] Figure 4 This is a schematic diagram of the fundamental spatial voltage vector distribution on the rotor side.

[0070] Figure 5 This is a schematic diagram of the synthesized extended vector;

[0071] Figure 6 This is a schematic diagram of the first step of the step-by-step prediction.

[0072] Figure 7 This is a schematic diagram of the second step of the step-by-step prediction;

[0073] Figure 8 This is a schematic diagram of the optimal switch vector selection process. Detailed Implementation

[0074] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0075] In the description of this invention, it should be understood that the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0076] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0077] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this invention generally indicates that the preceding and following objects have an "or" relationship.

[0078] It should be understood that although terms such as first, second, third, etc., may be used in the embodiments of the present invention to describe the preset range, these preset ranges should not be limited to these terms. These terms are only used to distinguish the preset ranges from one another. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0079] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0080] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0081] The accompanying drawings illustrate various structural schematic diagrams according to embodiments disclosed in this invention. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0082] refer to Figure 2 The matrix motor model predictive current fault-tolerant control method of the present invention includes:

[0083] The stator five-phase winding phase current and the rotor three-phase winding phase current are acquired by current sensors. The phase currents are then converted using Clark / Park transformation to obtain i. qs (k), i ds (k) and i qr (k), i qr (k) are used for predicting the dq-axis current on the stator side and the dq-axis current on the rotor side, respectively.

[0084] The stator-side dq-axis current and the rotor-side dq-axis current are predicted and calculated using the following formulas, where the specific meanings of the parameters are given, including u. ds u dr u qs u qr In the form of a voltage vector:

[0085]

[0086] Among them, s a s b s c This is the stator-side inverter arm conduction signal; a value of 1 indicates that the upper arm is turned on. a s bs c This is the rotor-side inverter arm conduction signal; a value of 1 indicates that the upper arm is on. er The rotor-side motor electrical angle is denoted as .

[0087] The voltage vector comes from the control vector set. It is necessary to traverse all voltage vectors in the control vector set and select the optimal voltage vector through the value function.

[0088]

[0089] The speed loop is used to control the motor speed to follow a given speed. The output of the speed loop is the total i. q The reference value is obtained through stator and rotor current distribution. and That is, the stator side and the rotor side i q The reference value. This invention uses i d =0 controls, therefore

[0090] See Figure 3 When there is an open circuit fault in phases B and E on the stator side, there are a total of 2 3 There are several switching vectors, namely two zero vectors (V0, V7) and six non-zero vectors.

[0091] See Figure 4 The three-phase rotor-driven inverter has three bridge arms and a total of 2 3 The switching vectors include two zero vectors (U0, U7) and six non-zero vectors, which are divided into six sectors in the α-β space.

[0092] When determining the optimal vector, a zero vector is introduced to modulate the amplitude of non-zero vectors within the sector, i.e., duty cycle modulation. The duty cycle is calculated using the deadbeat principle of the q-axis current. Based on the deadbeat principle, within one control cycle, the action time of the non-zero and zero vectors is allocated to ensure...

[0093]

[0094] Among them, t opt_s t opt_r These represent the non-zero vector action times of the stator and rotor, in seconds. opt_s s opt_r i when the stator and rotor are acting as non-zero vectors qs i qr The slope, s 0_s s 0_r i when the stator and rotor are at zero vector action qs i qr The slope, s 0_s s opt_s s 0_r and s opt_rIt can be obtained from the following formula.

[0095]

[0096] Among them, u qs_opt u is the voltage quadrature-axis component corresponding to the non-zero vector on the stator side. qr_opt This represents the quadrature-axis component of the voltage corresponding to the non-zero vector on the rotor side.

[0097] The duty cycles of the non-zero voltage vectors on the stator and rotor sides are obtained as follows:

[0098]

[0099] The control set vector is:

[0100] V i ∈{d s1 V1...d s6 V6}

[0101] U i ∈{d r1 U1...d r6 U6}

[0102] The value function is:

[0103]

[0104] To expand the range of available alternative vectors and optimize control performance, the rotor-side vector set is expanded.

[0105] See Figure 5 Taking sector I as an example, the calculation method for the rotor-side extended control set vector is as follows: (This is achieved by synthesizing an extended vector from adjacent vectors.)

[0106] U I_1 =0.67U4 + 0.33U6

[0107] U I_2 =0.33U4 + 0.67U6

[0108] After expanding the control set vector, the stator and rotor control vector sets are as follows:

[0109] V i ∈{d s1 V1...d s6 V6}

[0110] U i ∈{d r4 U4,d I_1 U I_1 ,d I_2 U I_2 ,d r6 U6...d r5U5}

[0111] The corresponding value function is:

[0112]

[0113] At this point, there are 6*18=108 alternative vector combinations in the control vector set. The computational load is huge when calculating the value function, so the distributed prediction method is used to accelerate the calculation.

[0114] The first step in stepwise prediction is to determine an edge of the sector containing the optimal vector. Specifically, on the rotor side, a simplified control set vector containing three vectors is defined, and the selection principle is as follows: Figure 6 The three vectors are marked with solid red lines; the simplified control vector set at this point is:

[0115] V i ∈{d s1 V1...d s6 V6}

[0116] U i ∈{d r4 U4,d r2 U2,d r1 U1}

[0117] The corresponding value function is:

[0118]

[0119] The first step predicts a total of 6*3=18 candidate vectors. The value function determines one edge of the sector containing the optimal vector on the rotor side and the optimal vector on the stator side, and records the value of the value function at this point.

[0120] Let U4 be one side of the optimal vector on the rotor side. Then the other side will be determined from U6 and U5, such as... Figure 7 As shown, the second prediction step is then performed, with the control vector set as follows:

[0121] U i ∈{d r6 U6,d r5 U5}

[0122] The corresponding value function is:

[0123]

[0124] The second step of prediction involves two candidate vectors. Through this second step, we will obtain the other edge of the sector where the optimal vector is located, and record the value of the value function at this point. In other words, we can determine the sector where the optimal vector is located at this point.

[0125] Assume the optimal vector U is determined on the rotor side.i Within sector I, the control vector set is as follows:

[0126] U i ∈{d r4 U4,d rI_1 U I_1 ,d rI_2 U I_2 ,d r6 U6}

[0127] However, d was already considered in the first and second steps of prediction. r4 U4, d r6 After the value function calculations for the two vectors U6 are performed, once the sector is determined, we only need to calculate the value function for the extended vector within the sector and take the minimum value of the value function calculated for the optimal vector during the first and second prediction steps.

[0128] The corresponding value function is:

[0129]

[0130] Therefore, there are 18+2+2=22 candidate vectors in each control cycle, which are used to calculate the value function.

[0131] Finally, the optimal switching vector is determined based on the value function, and the inverter is controlled to control the fault-tolerant operation of the motor based on the optimal switching vector.

[0132] Example 2

[0133] The matrix-type motor model predictive current fault-tolerant control system of the present invention includes:

[0134] The acquisition module is used to acquire the phase currents of the five-phase stator windings and the three-phase rotor windings;

[0135] The prediction module is used to predict the stator-side dq-axis current and the rotor-side dq-axis current based on the phase current of the stator five-phase winding and the phase current of the rotor three-phase winding.

[0136] The module is used to construct the value function based on the predicted stator-side dq-axis current and rotor-side dq-axis current;

[0137] The solution module is used to solve the value function to obtain the optimal switching vector;

[0138] The control module is used to control the fault-tolerant operation of the motor through the inverter according to the optimal switching vector.

[0139] In this embodiment, the process of predicting the stator-side dq-axis current and the rotor-side dq-axis current based on the phase currents of the stator five-phase windings and the rotor three-phase windings is as follows:

[0140] The phase currents of the five-phase stator windings and the three-phase rotor windings are subjected to Clark / Park transformation to obtain i qs (k), i ds (k) and i qr (k), i qr (k);

[0141] According to the i qs (k), i ds (k) and i qr (k), i qr (k) Predict stator-side and rotor-side i ds (k+1),i qs (k+1),i dr (k+1) and i qr (k+1).

[0142] In this embodiment, the stator side and rotor side i ds (k+1),i qs (k+1),i dr (k+1) and i qr (k+1) are respectively:

[0143]

[0144] Among them, u ds u qs These are the stator dq-axis voltages, u dr u qr These are the rotor dq-axis voltages, respectively; i ds i qs These are the stator dq-axis currents, i dr i qr These are the rotor dq-axis currents, respectively; ψ ds ψ qs These are the dq-axis components of the stator flux linkage, ψ dr ψ qr These are the dq-axis components of the rotor flux linkage, respectively; L ds L qs These are the stator dq axis inductances, L dr L qr These are the rotor dq axis inductances, respectively; R s R r These are the stator and rotor resistances, respectively; ψ sf ψ rf These are the stator and rotor permanent magnet flux linkages, respectively; ω es ω er These are the stator and rotor electric angular velocities, respectively; M is the fundamental amplitude of the mutual inductance between the stator and rotor windings.

[0145] The module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in each embodiment of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0146] Example 3

[0147] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of a matrix motor model predictive current fault-tolerant control method. For example, the method includes: acquiring the phase currents of the five-phase stator windings and the three-phase rotor windings; predicting the stator-side dq-axis current and the rotor-side dq-axis current based on the phase currents of the five-phase stator windings and the three-phase rotor windings; constructing a value function based on the predicted stator-side dq-axis current and the rotor-side dq-axis current; solving the value function to obtain an optimal switching vector; and controlling the fault-tolerant operation of the motor through an inverter based on the optimal switching vector. The memory may include main memory, such as high-speed random access memory, or it may also include non-volatile memory, such as at least one disk storage device. The processor, network interface, and memory are interconnected via an internal bus, which can be an industry standard architecture bus, a peripheral component interconnection standard bus, an extended industry standard architecture bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory is used to store programs; specifically, the program may include program code, which includes computer operation instructions. The memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0148] Example 4

[0149] A computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the matrix motor model predictive current fault-tolerant control method. For example, the method includes: acquiring the phase currents of the five-phase stator windings and the three-phase rotor windings; predicting the stator-side dq-axis current and the rotor-side dq-axis current based on the phase currents of the five-phase stator windings and the three-phase rotor windings; constructing a value function based on the predicted stator-side dq-axis current and the rotor-side dq-axis current; solving the value function to obtain an optimal switching vector; and controlling the fault-tolerant operation of the motor through an inverter based on the optimal switching vector. Specifically, the computer-readable storage medium includes, but is not limited to, volatile memory and / or non-volatile memory. The volatile memory may include random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include read-only memory (ROM), hard disk, flash memory, optical disk, magnetic disk, etc.

[0150] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0151] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0152] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0153] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0154] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and disclosure of the invention. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0155] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0156] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any simple modifications, alterations, or equivalent structural changes made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A matrix motor model predictive current fault-tolerant control method, characterized in that, include: Obtain the phase currents of the five-phase stator windings and the phase currents of the three-phase rotor windings; Predict the stator-side dq current and the rotor-side dq axis current based on the phase currents of the five-phase stator windings and the three-phase rotor windings. Based on the predicted stator-side dq current and rotor-side dq shaft current, a value function is constructed. Solving the value function yields the optimal switching vector; Based on the optimal switching vector, the inverter controls the fault-tolerant operation of the motor; The process of predicting the stator-side dq current and the rotor-side dq shaft current based on the phase currents of the stator five-phase windings and the rotor three-phase windings is as follows: The phase currents of the five-phase stator windings and the three-phase rotor windings are subjected to Clark / Park transformation to obtain... , and , ; According to the above , and , Predicting stator and rotor sides , , and ; The stator side and the rotor side , , and They are respectively: in, , These are the stator dq-axis voltages, respectively. , These are the rotor dq axis voltages, respectively; , These are the stator dq-axis currents, , These are the rotor dq-axis currents, respectively; , These are the dq-axis components of the stator flux linkage. , These are the dq-axis components of the rotor flux linkage, respectively. , These are the stator dq axis inductances, , These are the rotor dq axis inductances, respectively; , These are the stator and rotor resistances, respectively. , These are the stator and rotor permanent magnet flux linkages, respectively. , These are the stator and rotor electric angular velocities, respectively. This represents the basic amplitude of the mutual inductance between the stator and rotor windings.

2. The matrix motor model predictive current fault-tolerant control method according to claim 1, characterized in that, The value function is: in, , , , .

3. The matrix motor model predictive current fault-tolerant control method according to claim 1, characterized in that, The optimal switching vector is obtained by solving the value function using a distribution prediction method.

4. A matrix-type motor model predictive current fault-tolerant control system, characterized in that, include: The acquisition module is used to acquire the phase currents of the five-phase stator windings and the three-phase rotor windings; The prediction module is used to predict the stator-side dq current and the rotor-side dq shaft current based on the phase currents of the five-phase stator windings and the phase currents of the three-phase rotor windings. The module is used to construct the value function based on the predicted stator-side dq current and rotor-side dq shaft current; The solution module is used to solve the value function to obtain the optimal switching vector; The control module is used to control the fault-tolerant operation of the motor through the inverter according to the optimal switching vector; The process of predicting the stator-side dq current and the rotor-side dq shaft current based on the phase currents of the five-phase stator windings and the three-phase rotor windings is as follows: The phase currents of the five-phase stator windings and the three-phase rotor windings are subjected to Clark / Park transformation to obtain... , and , ; According to the above , and , Predicting stator and rotor sides , , and ; The stator side and the rotor side , , and They are respectively: in, , These are the stator dq-axis voltages, respectively. , These are the rotor dq axis voltages, respectively; , These are the stator dq-axis currents, , These are the rotor dq-axis currents, respectively; , These are the dq-axis components of the stator flux linkage. , These are the dq-axis components of the rotor flux linkage, respectively. , These are the stator dq axis inductances, , These are the rotor dq axis inductances, respectively; , These are the stator and rotor resistances, respectively. , These are the stator and rotor permanent magnet flux linkages, respectively. , These are the stator and rotor electric angular velocities, respectively. This represents the basic amplitude of the mutual inductance between the stator and rotor windings.

5. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the matrix motor model predictive current fault-tolerant control method as described in any one of claims 1-3.

6. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the matrix motor model predictive current fault-tolerant control method as described in any one of claims 1-3.

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