The invention relates to a dual three-phase
permanent magnet synchronous motor model-free prediction
repetitive control method and
system based on a double-subspace virtual vector, and the method comprises the steps: decomposing the vector of a motor into a fundamental wave subspace and a
harmonic wave subspace which are orthogonal to each other based on an obtained operation parameter, and constructing an independent super-local model in the two subspaces; constructing a linear expansion
state observer in the fundamental wave subspace, and constructing a repetitive expansion
state observer based on
repetitive control in the
harmonic wave subspace; respectively synthesizing an independent virtual
voltage vector set and a decoupling virtual
voltage vector set in the two subspaces; and calculating reference
voltage vectors of the two subspaces, selecting an optimal virtual
voltage vector and an optimal decoupling virtual
voltage vector, respectively calculating optimal duty ratios, synthesizing control signals applied to each bridge arm of the
inverter, and driving the dual three-phase
permanent magnet synchronous motor. According to the method, model-free control of double sub-spaces is realized,
model parameters of a
motor system of an
algorithm are controlled, and better robustness is shown when the parameters are mismatched.