CN105763120B - A kind of quasi- dead beat model prediction flux linkage control method of permagnetic synchronous motor - Google Patents

A kind of quasi- dead beat model prediction flux linkage control method of permagnetic synchronous motor Download PDF

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CN105763120B
CN105763120B CN201610188463.4A CN201610188463A CN105763120B CN 105763120 B CN105763120 B CN 105763120B CN 201610188463 A CN201610188463 A CN 201610188463A CN 105763120 B CN105763120 B CN 105763120B
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msub
vector
stator magnetic
magnetic linkage
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CN105763120A (en
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花为
黄文涛
程明
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Southeast University
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Southeast University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors

Abstract

The invention discloses a kind of quasi- dead beat model prediction flux linkage control method of permagnetic synchronous motor, in limited control framework, calculates the stator magnetic linkage vector reference value of subsequent time first, further according to reference value according to track with zero error thought, obtains target voltage vector；Sector where judging target voltage vector by the position angle of target voltage vector, 3 effective voltage vectors are selected using sector；Then, according to the stator magnetic linkage vector of 3 effective voltage vector prediction subsequent times；Finally, inverter optimized switching state is obtained by optimizing cost function, inverter is according to optimized switching state output voltage to permagnetic synchronous motor.Weight computing is not contained in the cost function of this method, when carrying out cost function optimization, need to only be optimized for 3 effective voltage vectors, reduce algorithm operation time.

Description

A kind of quasi- dead beat model prediction flux linkage control method of permagnetic synchronous motor
Technical field
The present invention relates to a kind of quasi- dead beat model prediction flux linkage control method of permagnetic synchronous motor, belong to motor driving and Control technology.
Background technology
Limited domination set Model Predictive Control can solve optimization online according to the constraint of controlled device and discrete feature and ask Topic, its simple in construction and easy realization, is widely used in power electronics and motor Qu Donglingyu in recent years.Led in motor control Domain, according to the difference of control variable, limited domination set Model Predictive Control has model prediction current control, model prediction torque control System and model prediction magnetic linkage control.Model prediction current control is using stator armature electric current as control object, the pulsation of its steady state torque It is larger.The cost function of model prediction direct torque is made up of torque and stator magnetic linkage amplitude two parts, due to the two dimension not With, it is necessary to coupled by weights, the selection of weights at present is still an open problem, ununified theoretical direction. Model prediction magnetic linkage control, only using stator magnetic linkage vector as control targe, avoids weights compared with model prediction direct torque Calculate, can simplify control algorithm.In three phase alternating current motor two-level inverter driving structure, model prediction magnetic linkage control be Optimal voltage vector is found in 7 different basic voltage vectors.And more voltage vector object, it can add in optimization process Acute system delay, cause PREDICTIVE CONTROL not accurate, particularly in polyphase machine PREDICTIVE CONTROL.Therefore, reduce in optimization process Object be advantageous to improve PREDICTIVE CONTROL performance.
The content of the invention
Goal of the invention：In view of above-mentioned background, the present invention is directed to during permagnetic synchronous motor model prediction magnetic linkage control most Excellent voltage vector selection course has made further optimization.According to track with zero error thought, using in model prediction magnetic linkage control Flux linkage vector is with reference to calculating target voltage vector, there is provided a kind of quasi- dead beat model prediction magnetic linkage control side of permagnetic synchronous motor Method；Because model prediction magnetic linkage control designs under limited domination set principle, therefore the inventive method can not obtain really Target voltage vector in meaning, it can only be selected from the basic voltage vectors in sector where target voltage vector optimal basic Voltage vector, i.e., track with zero error truly can not be realized, and quasi- track with zero error can only be realized.
Technical scheme：To achieve the above object, the technical solution adopted by the present invention is：
A kind of quasi- dead beat model prediction flux linkage control method of permagnetic synchronous motor, comprises the following steps：
(1) torque reference T is calculatede *(k)：By reference velocity ω*(k) it is defeated with the difference e (k) of actual feedback speed omega (k) Enter PI controllers, torque reference T is calculated according to formula (1.1)e *(k)；
Wherein：KPAnd KIThe respectively proportional gain of PI controllers and storage gain；
(2) calculate (k+1) moment stator magnetic linkage vector and refer to ψs *(k+1)：By stator magnetic linkage amplitude reference | ψs *(k) | and Torque reference Te *(k) input torque angle computing module, δ is referred to according to formula (2.1) calculating torque angle*(k)；By rotor position angle θr(k) and actual feedback speed omega (k) inputs rotor position angle prediction module, and (k+1) moment rotor is predicted according to formula (2.2) Angular position thetar(k+1)；Angle of torsion is referred into δ*And (k+1) moment rotor position angle θ (k)r(k+1) it is added, obtains (k+1) moment Stator magnetic linkage angular position thetas(k+1)；By stator magnetic linkage amplitude reference | ψs *(k) | and (k+1) moment stator magnetic linkage angular position thetas(k+ 1) input stator magnetic linkage vector refers to computing module, and calculating (k+1) moment stator magnetic linkage vector according to formula (2.4) refers to ψs *(k +1)；
θr(k+1)=θr(k)+ω(k)Ts (2.2)
θs(k+1)=δ*(k)+θr(k+1) (2.3)
ψs *(k+1)=| ψs *(k)|exp(jθs(k+1)) (2.4)
Wherein：LsFor permagnetic synchronous motor synchronous inductance, PrFor permagnetic synchronous motor number of pole-pairs, | ψf *(k) | it is permanent magnet Magnetic linkage amplitude, TsFor the sampling time of PREDICTIVE CONTROL；
(3) effective voltage vector selects：(k+1) moment stator magnetic linkage vector is referred into ψs *(k+1) target vector meter is inputted Module is calculated, target voltage vector u is calculated according to formula (3.1)obj(k+1)；By target voltage vector uobj(k+1) target electricity is inputted Azimuth computing module is pressed, target voltage vector and α axle angle thetas are calculated according to formula (3.2)u(k+1)；By target voltage vector With α axle angle thetasu(k+1) sector judge module is inputted, according to target voltage vector and α axle angle thetasu(k+1) target voltage is judged Vector uobj(k+1) sector number N (k+1)；Sector number N (k+1) is inputted into selecting module, obtains three basic voltage vectors ui (k+1), arrow number i=2N-1,2N, 2N+1；
Wherein：ψs(k) it is k moment stator magnetic linkage vectors, RsFor stator resistance, is(k) it is stator current, uobjβ(k+1) and uobjα(k+1) it is respectively uobj(k+1) α axles and beta -axis component；
(4) (k+1) moment stator magnetic linkage vector predictor ψ is calculateds(k+1)：By stator current is(k) and three substantially electric Press vector ui(k+1) stator magnetic linkage vector prediction module is inputted, (k+1) moment stator magnetic linkage vector is calculated according to formula (4.1) Predicted value ψs(k+1)；
ψs(k+1)=ψs(k)+Ts(ui(k+1)-Rsis(k)) (4.1)
(5) inverter optimized switching state is selected：(k+1) moment stator magnetic linkage vector is referred into ψs *(k+1) and when (k+1) Carve stator magnetic linkage vector predictor ψs(k+1) optimization module is inputted, cost function g is calculated according to formula (5.1)i, cost function gi When taking minimum value, its corresponding basic voltage vectors is defined as optimal basic voltage vectors uopt, according to optimal basic voltage vectors uoptObtain optimized switching state Sa,b,c；
gi=| ψs *(k+1)-ψs(k+1)| (5.1)
(6) optimal voltage is exported：Inverter is by optimized switching state Sa,b,cIt is converted into optimal voltage and is conveyed to permanent-magnet synchronous Motor.
Specifically, selecting module selects three basic voltage vectors after sector number N (k+1) is obtained, according to following relations ui(k+1)：
1. during N (k+1)=1,Basic voltage vectors are (100,000,110), three fundamental voltages Vector is u1、u2And u3；
2. during N (k+1)=2,Basic voltage vectors are (110,000,010), and three substantially electric Pressure vector is u3、u4And u5；
3. during N (k+1)=3,Basic voltage vectors are (010,000,011), and three substantially electric Pressure vector is u5、u6And u7；
4. during N (k+1)=4,Basic voltage vectors are (011,000,001), and three substantially electric Pressure vector is u7、u8And u9；
5. during N (k+1)=5,Basic voltage vectors are (001,000,101), and three basic Voltage vector is u9、u10And u11；
6. during N (k+1)=6,Basic voltage vectors are (101,000,100), and three substantially electric Pressure vector is u11、u12And u13。
Beneficial effect：The quasi- dead beat model prediction flux linkage control method of permagnetic synchronous motor provided by the invention, directly with Stator magnetic linkage vector is control variable, compared with common Model Predictive Control, avoids the calculating of weights, simplifies optimal base This voltage vector selection course, reduces system delay, is advantageous to improve the ageing of algorithm, more suitable for practical application.This The there is provided method of invention also provides a kind of new think of for polyphase machine and multi-electrical level inverter Model Predictive Control policy optimization Road.
Brief description of the drawings
Fig. 1 is the theory diagram of the present invention, including PI controllers 1, stator magnetic linkage vector are with reference to computing module 2, effectively electricity Vector selecting module 3, stator magnetic linkage vector prediction module 4, optimization module 5, inverter 6, permagnetic synchronous motor 7 and photoelectricity is pressed to compile Code device 8；
Fig. 2 refers to the theory diagram of computing module 2, including angle of torsion computing module 2-1, rotor position for stator magnetic linkage vector Angle setting prediction module 2-2 and stator magnetic linkage vector refer to computing module 2-3；
Fig. 3 is the theory diagram of effective voltage vector selecting module 3, including target voltage vectors calculation module 3-1, target Voltage vector angle computing module 3-2, sector judge module 3-3 and selecting module 3-4；
Fig. 4 is k moment permagnetic synchronous motor vector correlation figures；
Fig. 5 is k moment voltage vector graphs of a relation；
Fig. 6 is quasi- dead beat model prediction magnetic linkage control algorithm flow chart.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Figure 1 be a kind of quasi- dead beat model prediction magnetic linkage control system of permagnetic synchronous motor as shown in figure 1, including PI controllers 1, stator magnetic linkage vector are with reference to computing module 2, effective voltage vector selecting module 3, stator magnetic linkage vector prediction mould Block 4, optimization module 5, inverter 6, permagnetic synchronous motor 7 and photoelectric encoder 8.
Realize the described quasi- dead beat model prediction magnetic linkage control of permagnetic synchronous motor, it is necessary to calculate stator magnetic linkage vector With reference to ψs *And stator magnetic linkage vector predictor ψ (k+1)s(k+1) effective voltage vector, is selected according to quasi- track with zero error principle. Relations of the Fig. 4 between k moment each vector, Fig. 5 are target voltage vector and basic voltage vectors figure, and Fig. 6 is that the permanent magnetism is same Walk the algorithm flow chart of the quasi- dead beat model prediction flux linkage control method of motor.Specifically comprise the following steps：
(1) torque reference T is calculatede *(k)：By reference velocity ω*(k) it is defeated with the difference e (k) of actual feedback speed omega (k) Enter PI controllers 1, torque reference T is calculated according to formula (1.1)e *(k)；
Wherein：KPAnd KIThe respectively proportional gain of PI controllers 1 and storage gain；
(2) calculate (k+1) moment stator magnetic linkage vector and refer to ψs *(k+1)：By stator magnetic linkage amplitude reference | ψs *(k) | and Torque reference Te *(k) input torque angle computing module 2-1, δ is referred to according to formula (2.1) calculating torque angle*(k)；By rotor position Angle setting θr(k) and actual feedback speed omega (k) inputs rotor position angle prediction module 2-2, and (k+1) is predicted according to formula (2.2) Moment rotor position angle θr(k+1)；Angle of torsion is referred into δ*And (k+1) moment rotor position angle θ (k)r(k+1) it is added, obtains (k + 1) moment stator magnetic linkage angular position thetas(k+1)；By stator magnetic linkage amplitude reference | ψs *(k) | and (k+1) moment stator magnetic linkage position Angle θs(k+1) input stator magnetic linkage vector refers to computing module 2-3, and (k+1) moment stator magnetic linkage arrow is calculated according to formula (2.4) Amount refers to ψs *(k+1)；
θr(k+1)=θr(k)+ω(k)Ts (2.2)
θs(k+1)=δ*(k)+θr(k+1) (2.3)
ψs *(k+1)=| ψs *(k)|exp(jθs(k+1)) (2.4)
Wherein：LsFor permagnetic synchronous motor synchronous inductance, PrFor permagnetic synchronous motor number of pole-pairs, | ψf *(k) | it is permanent magnet Magnetic linkage amplitude, TsFor the sampling time of PREDICTIVE CONTROL；
(3) effective voltage vector selects：(k+1) moment stator magnetic linkage vector is referred into ψs *(k+1) target vector meter is inputted Module 3-1 is calculated, target voltage vector u is calculated according to formula (3.1)obj(k+1)；By target voltage vector uobj(k+1) mesh is inputted Voltage vector angle computing module 3-2 is marked, target voltage vector and α axle angle thetas are calculated according to formula (3.2)u(k+1)；By target Voltage vector and α axle angle thetasu(k+1) sector judge module 3-3 is inputted, according to target voltage vector and α axle angle thetasu(k+1) sentence Disconnected target voltage vector uobj(k+1) sector number N (k+1)；Sector number N (k+1) is inputted into selecting module 3-4 (with reference to table 1), Obtain three basic voltage vectors ui(k+1), arrow number i=2N-1,2N, 2N+1；
Wherein：ψs(k) it is k moment stator magnetic linkage vectors, RsFor stator resistance, is(k) it is stator current, uobjβ(k+1) and uobjα(k+1) it is respectively uobj(k+1) α axles and beta -axis component；
(4) (k+1) moment stator magnetic linkage vector predictor ψ is calculateds(k+1)：By stator current is(k) and three substantially electric Press vector ui(k+1) stator magnetic linkage vector prediction module 4 is inputted, (k+1) moment stator magnetic linkage vector is calculated according to formula (4.1) Predicted value ψs(k+1)；
ψs(k+1)=ψs(k)+Ts(ui(k+1)-Rsis(k)) (4.1)
(5) inverter optimized switching state is selected：(k+1) moment stator magnetic linkage vector is referred into ψs *(k+1) and when (k+1) Carve stator magnetic linkage vector predictor ψs(k+1) optimization module 5 is inputted, cost function g is calculated according to formula (5.1)i, cost function giWhen taking minimum value, its corresponding basic voltage vectors is defined as optimal basic voltage vectors uopt, sweared according to optimal fundamental voltage Measure uoptObtain optimized switching state Sa,b,c；
gi=| ψs *(k+1)-ψs(k+1)| (5.1)
(6) optimal voltage is exported：Inverter is by optimized switching state Sa,b,cIt is converted into optimal voltage and is conveyed to permanent-magnet synchronous Motor.
The sector number of table 1, sector angle, the corresponding relation of basic voltage vectors and arrow number
Fig. 4 is k moment permagnetic synchronous motor voltage vector-diagrams, and (k+1) moment stator magnetic linkage vector refers to ψs *(k+1) pass through Formula (2.4) is calculated；Target voltage vector uobj(k+1) it is calculated by formula (3.1), is sweared using the voltage in Fig. 5 Magnitude relation determines target voltage vector uobj(k+1) sector where is No. 3 sectors, then is now likely to become optimal fundamental voltage arrow Amount is only possible to as u5、u6And u7, stator magnetic linkage vector predictor corresponding to 3 basic voltage vectors is calculated using formula (4.1) ψs(k+1), as shown in phantom in Figure 4；Under being acted on again by optimization module according to formula (5.1) 3 basic voltage vectors Stator magnetic linkage vector predictor ψs(k+1) optimize, obtain optimal basic voltage vectors.In this optimization process, only use 3 basic voltage vectors, compared with common model prediction magnetic linkage, reduce optimization number, reduce system delay, favorably In the ageing of raising algorithm.
Described control method is to be directed to by the three-phase permanent magnet synchronous motor of two-level inverter driving and design, the party Method can also be extended in multiphase permanent magnet synchronous motor control
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (2)

  1. A kind of 1. quasi- dead beat model prediction flux linkage control method of permagnetic synchronous motor, it is characterised in that：Comprise the following steps：
    (1) torque reference T is calculatede *(k)：By reference velocity ω*(k) difference e (k) with actual feedback speed omega (k) inputs PI Controller (1), torque reference T is calculated according to formula (1.1)e *(k)；
    <mrow> <msup> <msub> <mi>T</mi> <mi>e</mi> </msub> <mo>*</mo> </msup> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>e</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msub> <mi>K</mi> <mi>P</mi> </msub> <mo>+</mo> <mfrac> <msub> <mi>K</mi> <mi>I</mi> </msub> <mi>s</mi> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1.1</mn> <mo>)</mo> </mrow> </mrow>
    Wherein：KPAnd KIThe respectively proportional gain of PI controllers (1) and storage gain；
    (2) calculate k+1 moment stator magnetic linkages vector and refer to ψs *(k+1)：By stator magnetic linkage amplitude reference | ψs *(k) | and torque reference Te *(k) input torque angle computing module (2-1), δ is referred to according to formula (2.1) calculating torque angle*(k)；By rotor position angle θr (k) and actual feedback speed omega (k) inputs rotor position angle prediction module (2-2), predicts that the k+1 moment turns according to formula (2.2) Sub- angular position thetar(k+1)；Angle of torsion is referred into δ*And k+1 moment rotor position angles θ (k)r(k+1) it is added, obtaining the k+1 moment determines Sub- magnetic linkage angular position thetas(k+1)；By stator magnetic linkage amplitude reference | ψs *(k) | and k+1 moment stator magnetic linkage angular position thetass(k+1) it is defeated Enter stator magnetic linkage vector and refer to computing module (2-3), calculating k+1 moment stator magnetic linkages vector according to formula (2.4) refers to ψs *(k+ 1)；
    <mrow> <msup> <mi>&amp;delta;</mi> <mo>*</mo> </msup> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mrow> <mn>2</mn> <msub> <mi>L</mi> <mi>s</mi> </msub> <msup> <msub> <mi>T</mi> <mi>e</mi> </msub> <mo>*</mo> </msup> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mn>3</mn> <msub> <mi>P</mi> <mi>r</mi> </msub> <mo>|</mo> <msup> <msub> <mi>&amp;psi;</mi> <mi>s</mi> </msub> <mo>*</mo> </msup> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>|</mo> <mo>|</mo> <msup> <msub> <mi>&amp;psi;</mi> <mi>f</mi> </msub> <mo>*</mo> </msup> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>|</mo> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2.1</mn> <mo>)</mo> </mrow> </mrow>
    θr(k+1)=θr(k)+ω(k)Ts (2.2)
    θs(k+1)=δ*(k)+θr(k+1) (2.3)
    ψs *(k+1)=| ψs *(k)|exp(jθs(k+1)) (2.4)
    Wherein：LsFor permagnetic synchronous motor synchronous inductance, PrFor permagnetic synchronous motor number of pole-pairs, | ψf *(k) | it is permanent magnet flux linkage width Value, TsFor the sampling time of PREDICTIVE CONTROL；
    (3) effective voltage vector selects：K+1 moment stator magnetic linkages vector is referred into ψs *(k+1) target vector computing module is inputted (3-1), target voltage vector u is calculated according to formula (3.1)obj(k+1)；By target voltage vector uobj(k+1) target electricity is inputted Azimuth computing module (3-2) is pressed, target voltage vector and α axle angle thetas are calculated according to formula (3.2)u(k+1)；By target electricity Press vector and α axle angle thetasu(k+1) sector judge module (3-3) is inputted, according to target voltage vector and α axle angle thetasu(k+1) sentence Disconnected target voltage vector uobj(k+1) sector number N (k+1)；By sector number N (k+1) input selecting modules (3-4), three are obtained Basic voltage vectors ui(k+1), arrow number i=2N-1,2N, 2N+1；
    <mrow> <msub> <mi>u</mi> <mrow> <mi>o</mi> <mi>b</mi> <mi>j</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <msup> <msub> <mi>&amp;psi;</mi> <mi>s</mi> </msub> <mo>*</mo> </msup> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>&amp;psi;</mi> <mi>s</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> </mfrac> <mo>+</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> <msub> <mi>i</mi> <mi>s</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3.1</mn> <mo>)</mo> </mrow> </mrow>
    <mrow> <msub> <mi>&amp;theta;</mi> <mi>u</mi> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi> </mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mfrac> <mrow> <msub> <mi>u</mi> <mrow> <mi>o</mi> <mi>b</mi> <mi>j</mi> <mi>&amp;beta;</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>u</mi> <mrow> <mi>o</mi> <mi>b</mi> <mi>j</mi> <mi>&amp;alpha;</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3.2</mn> <mo>)</mo> </mrow> </mrow>
    Wherein：ψs(k) it is k moment stator magnetic linkage vectors, RsFor stator resistance, is(k) it is stator current, uobjβAnd u (k+1)objα (k+1) it is respectively uobj(k+1) α axles and beta -axis component；
    (4) k+1 moment stator magnetic linkage vector predictors ψ is calculateds(k+1)：By stator current isAnd three basic voltage vectors (k) ui(k+1) stator magnetic linkage vector prediction module (4) is inputted, k+1 moment stator magnetic linkage vector predictors are calculated according to formula (4.1) ψs(k+1)；
    ψs(k+1)=ψs(k)+Ts(ui(k+1)-Rsis(k)) (4.1)
    (5) inverter optimized switching state is selected：K+1 moment stator magnetic linkages vector is referred into ψs *And k+1 moment stator magnets (k+1) Chain vector predictor ψs(k+1) optimization module (5) is inputted, cost function g is calculated according to formula (5.1)i, cost function giTake most During small value, its corresponding basic voltage vectors is defined as optimal basic voltage vectors uopt, according to optimal basic voltage vectors uopt Obtain optimized switching state Sa,b,c；
    gi=| ψs *(k+1)-ψs(k+1)| (5.1)
    (6) optimal voltage is exported：Inverter is by optimized switching state Sa,b,cIt is converted into optimal voltage and is conveyed to permagnetic synchronous motor.
  2. 2. the quasi- dead beat model prediction flux linkage control method of permagnetic synchronous motor according to claim 1, it is characterised in that： Selecting module (3-4) selects three basic voltage vectors u after sector number N (k+1) is obtained, according to following relationsi(k+1)：
    1. during N (k+1)=1,Basic voltage vectors are (100,000,110), three basic voltage vectors For u1、u2And u3；
    2. during N (k+1)=2,Basic voltage vectors are (110,000,010), and three fundamental voltages are sweared Measure as u3、u4And u5；
    3. during N (k+1)=3,Basic voltage vectors are (010,000,011), and three fundamental voltages are sweared Measure as u5、u6And u7；
    4. during N (k+1)=4,Basic voltage vectors are (011,000,001), and three fundamental voltages are sweared Measure as u7、u8And u9；
    5. during N (k+1)=5,Basic voltage vectors are (001,000,101), three fundamental voltages Vector is u9、u10And u11；
    6. during N (k+1)=6,Basic voltage vectors are (101,000,100), and three fundamental voltages are sweared Measure as u11、u12And u13。
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