CN104935231A - Current control method of induction motor based on forecast mode, and current controller of induction motor - Google Patents

Abstract

The invention discloses a current control method of an induction motor based on a forecast mode, and a current controller of the induction motor. According to the method and the current controller, stator M shaft voltage and stator T shaft voltage which are used for controlling stator M shaft current and stator T shaft current of the induction motor can be obtained according to a received stator M shaft setting current signal, a received stator M shaft feedback current signal, a received stator T shaft setting current signal, a received stator T shaft feedback current signal, induction motor parameters R1, R2, Ls, Lr and Lm as well as an induction motor rotor angle speed omega 1; control hysteresis is avoided; and the method is simple and practicable.

Description

Based on induction machine current control method and the current controller thereof of prediction mode

Technical field

The present invention relates to a kind of current control method and device thereof of induction machine.

Background technology

In the vector control system of induction machine, the overwhelming majority adopts two ring control forms, inner ring is current regulator (or being direct torque ring), outer shroud is speeds control ring, wherein the control module of most critical is exactly current control module (or being torque control module), and the dynamic and steady-state behaviour of current control module directly determines the performance quality of whole Induction machine drive system.Estimated current control module more commonly PID controls (PID control parameter) pattern or the PID control model after improving, and this pattern technology is mature and stable, is widely used, but also there is following problem and shortage:

1, PID method parameter adjustment process more complicated, needs the professional and technical personnel with certain experiences just can complete;

3, PID controls is Delay control in essence, determines its dynamic response performance not good, be easy to produce overshoot or readjustment, and the cut-off frequency of its amplitude-frequency characteristic is lower;

Even if 2 professional and technical personnel, debugging pid parameter out also may not be suitable in some occasion, likely causes current oscillation or out of control, and then cause the power model of vector control system to be reported to the police even damaging.

Summary of the invention

Technical problem to be solved by this invention is to provide a kind of induction machine current control method, it can obtain stator M shaft voltage for controlling stator M shaft current and the stator T shaft current of induction machine and stator T shaft voltage, and there will not be the phenomenon of control hysteresis, simple.

For solving the problems of the technologies described above, present invention employs following technical scheme:

Based on the induction machine current control method of prediction mode, comprise the following steps:

Receive the given current signal of stator M axle, stator M axle fed-back current signals, the given current signal of stator T axle and stator T axle fed-back current signals;

By the given current i of stator M axle of previous moment _{m1_ref}(k-1) the stator M axle feedback current i that robustness factor alpha adds current time is multiplied by _m1k () is multiplied by robustness factor beta, obtain intermediate object program A, i.e. A=α * i _{m1_ref}(k-1)+β * i _m1(k), wherein, 0< α <1,0< β <1, and, alpha+beta=1;

By the given current i of stator T axle of previous moment _{t1_ref}(k-1) the stator T axle feedback current i that robustness factor alpha adds current time is multiplied by _t1k () is multiplied by robustness factor beta, obtain intermediate object program B, that is, B=α * i _{t1_ref}(k-1)+β * i _t1(k);

According to induction motor parameter R ₁, R ₂, L _s, L _rand L _mand the induction electromotor rotor angular velocity omega of real-time reception ₁, design factor C, D and E, coefficient coefficient coefficient wherein, R ₁induction machine stator winding resistance, R ₂induction electromotor rotor winding resistance, L _sinduction machine stator winding inductance, L _rinduction electromotor rotor winding inductance, L _mit is induction machine winding mutual inductance;

Described coefficient C is multiplied by the stator M shaft current set-point i of current time _{m1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program A, then deduct described coefficient E and be multiplied by described intermediate object program B, obtains the stator M shaft voltage u of current time _m1(k); I.e. u _m1(k)=C × i _{m1_ref}(k)+(D × A)-(E × B);

Described coefficient C is multiplied by the stator T shaft current set-point i of current time _{t1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program B, add described coefficient E and be multiplied by described intermediate object program A, obtains the stator T shaft voltage u of current time _t1(k), i.e. u _t1(k)=C × i _{t1_ref}(k)+(D × B)+(E × A).

Present invention also offers the current controller of induction machine, comprising:

Current signal receiving element, for receiving the given current signal of stator M axle, stator M axle fed-back current signals, the given current signal of stator T axle and stator T axle fed-back current signals;

First intermediate object program computing unit, for the given current i of stator M axle by previous moment _{m1_ref}(k-1) the stator M axle feedback current i that robustness factor alpha adds current time is multiplied by _m1k () is multiplied by robustness factor beta, obtain intermediate object program A, i.e. A=α * i _{m1_ref}(k-1)+β * i _m1(k), wherein, 0< α <1,0< β <1, and, alpha+beta=1;

Second intermediate object program computing unit, for the given current i of stator T axle by previous moment _{t1_ref}(k-1) the stator T axle feedback current i that robustness factor alpha adds current time is multiplied by _t1k () is multiplied by robustness factor beta, obtain intermediate object program B, that is, B=α * i _{t1_ref}(k-1)+β * i _t1(k);

Coefficient calculation unit, for according to induction motor parameter R ₁, R ₂, L _s, L _rand L _mand the induction electromotor rotor angular velocity omega of real-time reception ₁, design factor C, D and E, coefficient coefficient coefficient wherein, R ₁induction machine stator winding resistance, R ₂induction electromotor rotor winding resistance, L _sinduction machine stator winding inductance, L _rinduction electromotor rotor winding inductance, L _mit is induction machine winding mutual inductance;

Stator M shaft voltage determining unit, for being multiplied by the stator M shaft current set-point i of current time by described coefficient C _{m1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program A, then deduct described coefficient E and be multiplied by described intermediate object program B, obtains the stator M shaft voltage u of current time _m1(k); I.e. u _m1(k)=C × i _{m1_ref}(k)+(D × A)-(E × B);

Stator T shaft voltage determining unit, for being multiplied by the stator T shaft current set-point i of current time by described coefficient C _{t1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program B, add described coefficient E and be multiplied by described intermediate object program A, obtains the stator T shaft voltage u of current time _t1(k), i.e. u _t1(k)=C × i _{t1_ref}(k)+(D × B)+(E × A).

After sampling technique scheme, the present invention at least has the following advantages:

1, induction machine current control method of the present invention does not need technical staff to carry out the adjustment of parameter, implements simpler.Because method of the present invention itself does not have proportion integration differentiation (PID) these parameters, the parameter that method of the present invention needs is the stator resistance of induction machine, stator inductance and mutual inductance, and these parameters can by the Parameter Self-learning gain-of-function of frequency converter;

2, current control method of the present invention does not have hysteresis, can effectively reduce overshoot or readjustment;

3, current control method of the present invention can not generation current concussion or out-of-control phenomenon.PID control method produces concussion basic reason even out of control and is that it is a hysteretic control approach, an always delayed control cycle in essence, and current control method of the present invention does not have hysteresis, thus can solve current oscillation well.

Accompanying drawing explanation

Fig. 1 shows the principle schematic of current controller according to an embodiment of the invention.

Fig. 2 shows the principle of vector control schematic diagram of the induction machine adopting current controller according to an embodiment of the invention.

Embodiment

Below in conjunction with accompanying drawing invention made and further illustrating.

According to an embodiment of the invention based on the induction machine current control method of prediction mode, comprise the following steps:

Step a, the given current signal of reception stator M axle, stator M axle fed-back current signals, the given current signal of stator T axle and stator T axle fed-back current signals.

In a kind of concrete execution mode, described stator M axle fed-back current signals and stator T axle fed-back current signals obtain in the following manner: three phase feedback currents Iu, Iv, the Iw being obtained induction machine stator by inverter current sensor measurement, again after three-phase-two-phase coordinate system transformation (Clark conversion) and static-rotating coordinate system conversion (Park conversion), obtain stator M axle fed-back current signals and stator T axle fed-back current signals.This is also the usual way of induction machine field-oriented vector control.

Step b, by the given current i of stator M axle of previous moment _{m1_ref}(k-1) the stator M axle feedback current i that robustness factor alpha adds current time is multiplied by _m1k () is multiplied by robustness factor beta, obtain intermediate object program A, i.e. A=α * i _{m1_ref}(k-1)+β * i _m1(k), wherein 0< α <1,0< β <1, and, alpha+beta=1; Preferably, α=0.4, β=0.6, but be not limited to this two numerical value.In the present embodiment, above-mentioned previous moment represented with the k-1 moment, and above-mentioned current time represented with the k moment, and the difference in k moment and k-1 moment is the electric current loop controlling of sampling cycle.

Step c, by the given current i of stator T axle of previous moment _{t1_ref}(k-1) the stator T axle feedback current i that robustness factor alpha adds current time is multiplied by _t1k () is multiplied by robustness factor beta, obtain intermediate object program B, that is, B=α * i _{t1_ref}(k-1)+β * i _t1(k).

Steps d, according to induction motor parameter R ₁, R ₂, L _s, L _rand L _mand the induction electromotor rotor angular velocity omega of real-time reception ₁, design factor C, D and E, coefficient coefficient coefficient wherein, R ₁induction machine stator winding resistance, R ₂induction electromotor rotor winding resistance, L _sinduction machine stator winding inductance, L _rinduction electromotor rotor winding inductance, L _mit is induction machine winding mutual inductance.

In a specific embodiment, above-mentioned induction motor parameter R ₁, R ₂, L _s, L _rand L _mobtained by the parameter of electric machine self-learning function of frequency converter, above-mentioned induction electromotor rotor angular velocity omega ₁that Negotiation speed transducer (such as photoelectric encoder, resolver etc.) detects acquisition.

Step e, coefficient C is multiplied by the stator M shaft current set-point i of current time _{m1_ref}k (), adds coefficient D and is multiplied by intermediate object program A, then deduct coefficient E and be multiplied by intermediate object program B, obtains the stator M shaft voltage u of current time _m1(k); I.e. u _m1(k)=C × i _{m1_ref}(k)+(D × A)-(E × B).

Step f, coefficient C is multiplied by the stator T shaft current set-point i of current time _{t1_ref}k (), adds coefficient D and is multiplied by intermediate object program B, add coefficient E and be multiplied by intermediate object program A, obtains the stator T shaft voltage u of current time _t1(k), i.e. u _t1(k)=C × i _{t1_ref}(k)+(D × B)+(E × A).

The stator M shaft voltage u of the current time obtained _m1the stator T shaft voltage u of (k) and current time _t1k () is imported into Clark inverse transform module participation computing below, this is also the usual way of induction machine field-oriented vector control.

Above-mentioned formula u _m1(k)=C × i _{m1_ref}(k)+(D × A)-(E × B) and u _t1(k)=C × i _{t1_ref}k ()+(D × B)+(E × A) is dependent on following derivation and obtains.

The M-T shaft voltage equation of known induction machine is as follows:

$\left[\begin{array}{c}{u}_{m1}\\ u_{t1}\\ 0\\ 0\end{array}\right]=\left[\begin{array}{cccc}{R}_1+L_{s}p& -{\mathrm{\&omega;}}_1{L}_s& L_{m}p& -{\mathrm{\&omega;}}_1{L}_m\\ {\mathrm{\&omega;}}_1{L}_s& R_1+L_{s}p& {\mathrm{\&omega;}}_1{L}_m& L_{m}p\\ L_{m}p& 0& R_2+L_{r}p& 0\\ {\mathrm{\&omega;}}_s{L}_m& 0& {\mathrm{\&omega;}}_s{L}_r& R_2\end{array}\right]\left[\begin{array}{c}{i}_{m1}\\ i_{t1}\\ i_{m2}\\ i_{t2}\end{array}\right]$ Formula 1

Wherein, u _m1induction machine stator winding M shaft voltage, unit V

U _t1induction machine stator winding T shaft voltage, unit V

R ₁induction machine stator winding resistance, unit Ω

R ₂induction electromotor rotor winding resistance, unit Ω

L _sinduction machine stator winding inductance, unit H

L _rinduction electromotor rotor winding inductance, unit H

L _minduction machine winding mutual inductance, unit H

ω ₁induction electromotor rotor angular speed, unit rad/s

ω _sinduction machine slip angular velocity, unit rad/s

I _m1induction machine stator M shaft current, unit A

I _t1induction machine stator T shaft current, unit A

I _m2induction electromotor rotor M shaft current, unit A

I _t2induction electromotor rotor T shaft current, unit A

P is differential operator

T is the electric current loop controlling of sampling cycle, unit s

Above-mentioned induction motor parameter R ₁, R ₂, L _s, L _rand L _mcan be obtained by the parameter of electric machine self-learning function of frequency converter, ω ₁can be measured by the photoelectric encoder of induction machine and obtain, i _m1and i _t1stator three-phase current Iu, Iv and Iw can be measured by the current sensor module of frequency converter to obtain after Clark conversion and Park conversion again.

The flux linkage equations of induction machine M-T axle

L _mi _m1+L _ri _m2＝φ ₂

L _mi _t1+ L _ri _t2=0 formula 2

Be approximately equal to

$\begin{array}{c}{i}_{t2}=-\frac{L_m}{L_r}{i}_{t1}\\ i_{m2}\&ap;-\frac{L_m}{L_r}{i}_{m1}\end{array}$ Formula 3

In order to the rotor current item in cancellation formula 1, formula 3 is updated to the first row and second row of formula 1, formula 4 can be obtained:

$\begin{array}{c}{u}_{m1}(R_1+L_{s}p)i_{m1}-{\mathrm{\&omega;}}_1{L}_s{i}_{t1}+L_{m}p(-\frac{L_m}{L_r}{i}_{m1})-{\mathrm{\&omega;}}_1{L}_m(-\frac{L_m}{L_r}{i}_{t1})\\ u_{t1}={\mathrm{\&omega;}}_1{L}_s{i}_{m1}+(R_1+L_{s}p)i_{t1}+{\mathrm{\&omega;}}_1{L}_{m}p(-\frac{L_m}{L_r}{i}_{m1})-L_{m}p(-\frac{L_m}{L_r}{i}_{t1})\end{array}$ Formula 4

And obtain formula 5 after formula 4 abbreviation

$\begin{array}{c}{u}_{m1}=\left(R_1+L_{s}p-\frac{{L_m}^2}{L_r}p\right)i_{m1}+\left({\mathrm{\&omega;}}_1\frac{{L_m}^2}{L_r}-{\mathrm{\&omega;}}_1{L}_s\right)i_{t1}\\ u_{t1}=\left({\mathrm{\&omega;}}_1{L}_s-{\mathrm{\&omega;}}_1-\frac{{L_m}^2}{L_r}\right)i_{m1}+\left(R_1+L_{s}p-\frac{{L_m}^2}{L_r}p\right)i_{t1}\end{array}$ Formula 5

Differential operator item in formula 5 is extracted separately and obtains formula 6

$\begin{array}{c}{u}_{m1}=R_1{i}_{m1}+\left(L_s-\frac{{L_m}^2}{L_r}\right){\mathrm{pi}}_{m1}-{\mathrm{\&omega;}}_1\left(L_s-\frac{{L_m}^2}{L_r}\right)i_{t1}\\ u_{t1}=R_1{i}_{t1}+\left(L_s-\frac{{L_m}^2}{L_r}\right){\mathrm{pi}}_{t1}+{\mathrm{\&omega;}}_1\left(L_s-\frac{{L_m}^2}{L_r}\right)i_{m1}\end{array}$ Formula 6

Formula 6 is done equivalent dispersion, formula 7 is substituted into formula 6

$\begin{array}{c}\frac{{\mathrm{di}}_{m1}}{dt}=\frac{i_{m1}(k+1)-i_{m1}\left(k\right)}{T}\\ \frac{{\mathrm{di}}_{t1}}{dt}=\frac{i_{t1}(k+1)-i_{t1}\left(k\right)}{T}\end{array}$ Formula 7

Obtain formula 8:

$\begin{array}{c}{u}_{m1}\left(k\right)=\frac{1}{T}(L_s-\frac{{L_m}^2}{L_r})i_{m1}(k+1)+\&lsqb;R-\left(L_s-\frac{{L_m}^2}{L_r}\right)\&rsqb;i_{m1}\left(k\right)-{\mathrm{\&omega;}}_1\left(L_s-\frac{{L_m}^2}{L_r}\right)i_{t1}\left(k\right)\\ u_{t1}\left(k\right)=\frac{1}{T}(L_s-\frac{{L_m}^2}{L_r})i_{t1}(k+1)+\&lsqb;R-\left(L_s-\frac{{L_m}^2}{L_r}\right)\&rsqb;i_{t1}\left(k\right)+{\mathrm{\&omega;}}_1\left(L_s-\frac{{L_m}^2}{L_r}\right)i_{m1}\left(k\right)\end{array}$ Formula 8

In the vector control of induction machine, actual current can well follow given curent change, in other words the given electric current in k moment and the difference of the actual current in k+1 moment very little, so the i in above formula _m1and i (k+1) _t1(k+1) i is changed into _{m1_ref}(k) and i _{t1_ref}k () obtains formula 9:

$\begin{array}{c}{u}_{m1}\left(k\right)=\frac{1}{T}(L_s-\frac{{L_m}^2}{L_r})i_{m1\_ref}\left(k\right)+\&lsqb;R-\left(L_s-\frac{{L_m}^2}{L_r}\right)\&rsqb;i_{m1}\left(k\right)-{\mathrm{\&omega;}}_1\left(L_s-\frac{{L_m}^2}{L_r}\right)i_{t1}\left(k\right)\\ u_{t1}\left(k\right)=\frac{1}{T}(L_s-\frac{{L_m}^2}{L_r})i_{t1\_ref}\left(k\right)+\&lsqb;R-\left(L_s-\frac{{L_m}^2}{L_r}\right)\&rsqb;i_{t1}\left(k\right)+{\mathrm{\&omega;}}_1\left(L_s-\frac{{L_m}^2}{L_r}\right)i_{m1}\left(k\right)\end{array}$ Formula 9

In order to strengthen the robustness of control method of the present invention, i _m1(k) and i _t1k () replaces with following formula respectively,

$\begin{array}{c}{i}_{m1}\left(k\right)=\mathrm{\&alpha;}*{\hat{i}}_{m1}\left(k\right)+\mathrm{\&beta;}*i_{m1}\left(k\right)\\ i_{t1}\left(k\right)=\mathrm{\&alpha;}*{\hat{i}}_{t1}\left(k\right)+\mathrm{\&beta;}*i_{t1}\left(k\right)\end{array}$ Formula 10

Wherein α, β are robustness coefficients, 0< α <1,0< β <1, and, alpha+beta=1; Value α=0.4 under normal circumstances, β=0.6, but be not limited to this two numerical value.

Wherein be the predicted value in current k moment, in the vector control of induction machine, actual current can well follow given curent change, in other words the given electric current in k-1 moment and the difference of the actual current in k moment very little, so in formula 10 with change i into _{m1_ref}and i (k-1) _{t1_ref}(k-1) formula 11, is obtained:

i _m1(k)＝α*i _{m1_ref}(k-1)+β*i _m1(k)

I _t1(k)=α * i _{t1_ref}(k-1)+β * i _t1(k) formula 11

Formula 11 is substituted into formula 9 and obtains formula 12 and 13, namely this formula 12 and 13 corresponds respectively to aforesaid formula u _m1(k)=C × i _{m1_ref}(k)+(D × A)-(E × B) and u _t1(k)=C × i _{t1_ref}(k)+(D × B)+(E × A).

$\begin{array}{c}{u}_{m1}\left(k\right)=\frac{1}{T}(L_s-\frac{{L_m}^2}{L_r})i_{m1\_\mathrm{ref}}\left(k\right)+[R-(L_s-\frac{{L_m}^2}{L_r})][\mathrm{\&alpha;}*i_{m1\_\mathrm{ref}}(k-1)+\mathrm{\&beta;}*i_{m1}\left(k\right)]-\\ {\mathrm{\&omega;}}_1(L_s-\frac{{L_m}^2}{L_r})[\mathrm{\&alpha;}*i_{t1\_\mathrm{ref}}(k-1)+\mathrm{\&beta;}*i_{t1}\left(k\right)]\end{array}$ Formula 12

$\begin{array}{c}{u}_{t1}\left(k\right)=\frac{1}{T}(L_s-\frac{{L_m}^2}{L_r})i_{t1\_\mathrm{ref}}\left(k\right)+[R-(L_s-\frac{{L_m}^2}{L_r})][\mathrm{\&alpha;}*i_{t1\_\mathrm{ref}}(k-1)+\mathrm{\&beta;}*i_{t1}\left(k\right)]+\\ {\mathrm{\&omega;}}_1(L_s-\frac{{L_m}^2}{L_r})[\mathrm{\&alpha;}*i_{m1\_\mathrm{ref}}(k-1)+\mathrm{\&beta;}*i_{m1}\left(k\right)]\end{array}$ Formula 13

As depicted in figs. 1 and 2.The current controller 1 of induction machine comprises current signal receiving element 11, first intermediate object program computing unit 12, second intermediate object program computing unit 13, coefficient calculation unit 14, stator M shaft voltage determining unit 15 and stator T shaft voltage determining unit 16 according to an embodiment of the invention.

Current signal receiving element 11 is for receiving the given current signal of stator M axle, stator M axle fed-back current signals, the given current signal of stator T axle and stator T axle fed-back current signals.

First intermediate object program computing unit 12 is for the given current i of stator M axle by previous moment _{m1_ref}(k-1) the stator M axle feedback current i that robustness factor alpha adds current time is multiplied by _m1k () is multiplied by robustness factor beta, obtain intermediate object program A, i.e. A=α * i _{m1_ref}(k-1)+β * i _m1(k), wherein, 0< α <1,0< β <1, and, alpha+beta=1.

Second intermediate object program computing unit 13 is for the given current i of stator T axle by previous moment _{t1_ref}(k-1) the stator T axle feedback current i that robustness factor alpha adds current time is multiplied by _t1k () is multiplied by robustness factor beta, obtain intermediate object program B, that is, B=α * i _{t1_ref}(k-1)+β * i _t1(k).

Coefficient calculation unit 14 is for according to induction motor parameter R ₁, R ₂, L _s, L _rand L _mand the induction electromotor rotor angular velocity omega of real-time reception ₁, design factor C, D and E, coefficient coefficient coefficient wherein, R ₁induction machine stator winding resistance, R ₂induction electromotor rotor winding resistance, L _sinduction machine stator winding inductance, L _rinduction electromotor rotor winding inductance, L _mit is induction machine winding mutual inductance.

Stator M shaft voltage determining unit 15 is for being multiplied by the stator M shaft current command value i of current time by described coefficient C _{m1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program A, then deduct described coefficient E and be multiplied by described intermediate object program B, obtains the stator M shaft voltage u of current time _m1(k); I.e. u _m1(k)=C × i _{m1_ref}(k)+(D × A)-(E × B).

Stator T shaft voltage determining unit 16 is for being multiplied by the stator T shaft current command value i of current time by described coefficient C _{t1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program B, add described coefficient E and be multiplied by described intermediate object program A, obtains the stator T shaft voltage u of current time _t1(k), i.e. u _t1(k)=C × i _{t1_ref}(k)+(D × B)+(E × A).

Claims (9)

1., based on the induction machine current control method of prediction mode, it is characterized in that, comprise the following steps:

Receive the given current signal of stator M axle, stator M axle fed-back current signals, the given current signal of stator T axle and stator T axle fed-back current signals;

By the given current i of stator M axle of previous moment _{m1_ref}(k-1) the stator M axle feedback current i that robustness factor alpha adds current time is multiplied by _m1k () is multiplied by robustness factor beta, obtain intermediate object program A, i.e. A=α * i _{m1_ref}(k-1)+β * i _m1(k), wherein, 0< α <1,0< β <1, and, alpha+beta=1;

By the given current i of stator T axle of previous moment _{t1_ref}(k-1) the stator T axle feedback current i that robustness factor alpha adds current time is multiplied by _t1k () is multiplied by robustness factor beta, obtain intermediate object program B, that is, B=α * i _{t1_ref}(k-1)+β * i _t1(k);

According to induction motor parameter R ₁, R ₂, L _s, L _rand L _mand the induction electromotor rotor angular velocity omega of real-time reception ₁, design factor C, D and E, coefficient coefficient coefficient E= wherein, R ₁induction machine stator winding resistance, R ₂induction electromotor rotor winding resistance, L _sinduction machine stator winding inductance, L _rinduction electromotor rotor winding inductance, L _mit is induction machine winding mutual inductance;

Described coefficient C is multiplied by the stator M shaft current set-point i of current time _{m1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program A, then deduct described coefficient E and be multiplied by described intermediate object program B, obtains the stator M shaft voltage u of current time _m1(k); I.e. u _m1(k)=C × i _{m1_ref}(k)+(D × A)-(E × B);

Described coefficient C is multiplied by the stator T shaft current set-point i of current time _{t1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program B, add described coefficient E and be multiplied by described intermediate object program A, obtains the stator T shaft voltage u of current time _t1(k), i.e. u _t1(k)=C × i _{t1_ref}(k)+(D × B)+(E × A).

2., as claimed in claim 1 based on the induction machine current control method of prediction mode, it is characterized in that, described induction motor parameter R ₁, R ₂, L _s, L _rand L _mobtained by the parameter of electric machine self-learning function of frequency converter.

3., as claimed in claim 1 based on the induction machine current control method of prediction mode, it is characterized in that, α=0.4, β=0.6.

4., as claimed in claim 1 based on the induction machine current control method of prediction mode, it is characterized in that, described induction electromotor rotor angular velocity omega ₁that Negotiation speed transducer detects acquisition.

5. as claimed in claim 1 based on the induction machine current control method of prediction mode, it is characterized in that, described stator M axle fed-back current signals and stator T axle fed-back current signals obtain in the following manner: three phase feedback currents Iu, Iv, the Iw being obtained induction machine stator by inverter current sensor measurement, again after three-phase-two-phase coordinate system transformation and static-rotating coordinate system conversion, obtain stator M axle fed-back current signals and stator T axle fed-back current signals.

6. the current controller of induction machine, is characterized in that, comprising:

Current signal receiving element, for receiving the given current signal of stator M axle, stator M axle fed-back current signals, the given current signal of stator T axle and stator T axle fed-back current signals;

First intermediate object program computing unit, for the given current i of stator M axle by previous moment _{m1_ref}(k-1) the stator M axle feedback current i that robustness factor alpha adds current time is multiplied by _m1k () is multiplied by robustness factor beta, obtain intermediate object program A, i.e. A=α * i _{m1_ref}(k-1)+β * i _m1(k), wherein, 0< α <1,0< β <1, and, alpha+beta=1;

Second intermediate object program computing unit, for the given current i of stator T axle by previous moment _{t1_ref}(k-1) the stator T axle feedback current i that robustness factor alpha adds current time is multiplied by _t1k () is multiplied by robustness factor beta, obtain intermediate object program B, that is, B=α * i _{t1_ref}(k-1)+β * i _t1(k);

Coefficient calculation unit, for according to induction motor parameter R ₁, R ₂, L _s, L _rand L _mand the induction electromotor rotor angular velocity omega of real-time reception ₁, design factor C, D and E, coefficient coefficient D= coefficient wherein, R ₁induction machine stator winding resistance, R ₂induction electromotor rotor winding resistance, L _sinduction machine stator winding inductance, L _rinduction electromotor rotor winding inductance, L _mit is induction machine winding mutual inductance;

Stator M shaft voltage determining unit, for being multiplied by the stator M shaft current set-point i of current time by described coefficient C _{m1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program A, then deduct described coefficient E and be multiplied by described intermediate object program B, obtains the stator M shaft voltage u of current time _m1(k); I.e. u _m1(k)=C × i _{m1_ref}(k)+(D × A)-(E × B);

Stator T shaft voltage determining unit, for being multiplied by the stator T shaft current set-point i of current time by described coefficient C _{t1_ref}k (), adds described coefficient D and is multiplied by described intermediate object program B, add described coefficient E and be multiplied by described intermediate object program A, obtains the stator T shaft voltage u of current time _t1(k), i.e. u _t1(k)=C × i _{t1_ref}(k)+(D × B)+(E × A).

7. current controller as claimed in claim 6, is characterized in that, described induction motor parameter R ₁, R ₂, L _s, L _rand L _mobtained by the parameter of electric machine self-learning function of frequency converter.

8. current controller as claimed in claim 6, is characterized in that, α=0.4, β=0.6.

9. current controller as claimed in claim 6, is characterized in that, described induction electromotor rotor angular velocity omega ₁that Negotiation speed transducer detects acquisition.