CN106803731A - A kind of five-phase PMSM model prediction method for controlling torque - Google Patents

Abstract

The invention discloses a model predictive torque control method of a five-phase permanent magnet synchronous motor, which belongs to the design and manufacture of multi-phase motor AC control systems in the field of power electronics and electric transmission. The main steps are: first, calculate where the deadbeat voltage vector lies sector, only select 4 voltage vectors (2 medium vectors + 2 large vectors) in this sector as the input set of model predictive torque control, so as to achieve real-time update; then use the predictive model to The four voltage vectors are predicted and calculated, and the optimal voltage vector is selected as the input of the system at the next moment in combination with the objective function. The method of the invention adopts model predictive torque control, has excellent dynamic response performance, and has less calculation amount, easier digital realization, and eases the pressure of digital chips.

Description

A model predictive torque control method for five-phase permanent magnet synchronous motor

technical field

The invention relates to the design and manufacture of a multi-phase motor AC control system (including a five-phase inverter and a five-phase permanent magnet synchronous motor) in the field of power electronics and electric transmission, in particular to a model predictive torque control of a five-phase permanent magnet synchronous motor method.

Background technique

Advances in microelectronics and power electronics have laid the foundation for the development of multiphase AC speed control systems. The advantages of the multi-phase system mainly lie in: the vibration and noise of the motor are small, the inverter has a large capacity, good output characteristics, high reliability, and high power density.

Finite-Control-Set Model Predictive Torque Control (FCS-MPTC) is an online optimization control algorithm. In a five-phase converter-motor drive system, usually only 11 vectors (large vector + zero vector, MPTC-11) or 21 vectors (large vector + medium vector + zero vector, MPTC-21) are selected as input gather. In the FCS-MPTC algorithm, the voltage vector in the input set must be traversed and calculated in each control cycle. Selecting 11 vectors as the input set reduces the amount of calculation to a certain extent, but large harmonics will appear in the motor stator current, resulting in large torque ripple and poor control effect when the motor is in a steady state; while selecting 21 Although a vector as an input set enriches the number of control sets and improves the control performance of the system, it brings a large computational burden to the digital control system and will cause other problems such as digital delay.

Contents of the invention

The technical problem to be solved by the present invention is to provide a five-phase permanent magnet synchronous motor model predictive torque control method, which can reduce the calculation burden of the digital control system and ensure the excellent control performance of the system.

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

A five-phase permanent magnet synchronous motor model predictive torque control method, comprising the following steps:

Step 1: According to the extended Parker rotation transformation formula, the physical quantities such as voltage, current, flux linkage, and torque of the five-phase permanent magnet synchronous motor in the natural coordinate system are mapped to two orthogonal coordinate systems d1-q1 and d3-q3 respectively Down;

Step 2: Classify the basic space voltage vectors of the two-level five-phase voltage source inverter, and calculate the magnitudes of the large, medium and small voltage vectors as follows:

In the formula, U _L , U _M , U _S represent the amplitudes of the large, medium and small voltage vectors respectively; U _dc represents the bus voltage of the DC side of the inverter;

Step 3: Calculate the predicted value of the deadbeat voltage vector according to the torque and flux linkage error of the five-phase motor, and then extract the amplitude and position information of the deadbeat predicted voltage vector;

Step 4: Determine the sector where the deadbeat voltage vector is located according to the calculated voltage vector position information;

Step 5: Select 4 vectors in the sector where the deadbeat voltage vector is located as the input set of predictive control;

Step 6: Predict, evaluate and calculate the voltage vectors in the control set, and select the voltage vector corresponding to the minimum value of the objective function to apply to the inverter.

Further, the step 3 is specifically:

According to the torque error at time k, the change amount Δδ of the required load angle δ is calculated as:

_Te ^ref represents the given value of the outer ring torque of the motor speed; δ represents the load angle between the motor stator and rotor flux linkage, N _p represents the number of pole pairs of the motor, L _d represents the direct axis inductance, ψ _f represents the magnetic flux of the permanent magnet chain, ψ _s represents the stator flux linkage vector;

According to formula Calculate the stator flux linkage error in the αβ coordinate system:

ψ _s ^ref represents the given value of fundamental flux linkage;

The components U _α and U _β of the deadbeat voltage vector prediction value in the two-phase αβ stationary coordinate system are:

final basis Obtain the amplitude and position information of the voltage vector in the deadbeat control method:

Further, the objective function is:

Among them, i=m, m+1, m+2, m+3; m represents the sector number where the deadbeat voltage vector is located in each sampling period; ψ _sd1-q1 ^ref represents the given fundamental space stator flux linkage value; T _e (k+1), ψ _sd1-q1 (k+1) represent the predicted values of torque and stator flux linkage at k+1 time respectively; ψ _sd3-q3 (k+1) represents the stator flux at k+1 time The harmonic prediction value of flux linkage; ψ _sd3-q3 ^ref is the given value of stator flux linkage in harmonic space; λ ₁ and λ ₂ are the weight coefficients of stator flux components in fundamental wave space and harmonic space respectively.

Further, I _max in the objective function is:

|I _lim | indicates the set current limit value, when it is detected that the current amplitude after the action of a certain voltage vector exceeds the limit of the maximum value, the voltage vector will not be selected.

Compared with prior art, the beneficial effect of the present invention is:

1) The input control set of the FCS-MPTC method is simplified, a large number of redundant calculations are avoided, and the calculation burden of the digital control system is reduced.

2) The FCS-MPTC method retains the advantages of fast dynamic response and good robustness.

3) The present invention is based on the analysis of the five-phase variable frequency motor drive system, which can also be extended and applied to other multi-phase motors; at the same time, it also provides reference value for other power conversion occasions involving issues such as power, torque ripple, and current harmonics .

Description of drawings

Fig. 1 is the overall functional block diagram of the method of the present invention.

Fig. 2 is a schematic diagram of calculating the deadbeat voltage vector.

Figure 3 is a block diagram of predicted torque and flux linkage.

Fig. 4 is a block diagram of space rotation coordinate transformation calculation.

Fig. 5 is the calculation duration of the method of the present invention.

Figure 6 shows the calculation time of the MPTC-21 (10 large vectors + 10 medium vectors + zero vector) method.

Fig. 7 shows the motor speed, torque and a-phase current waveform (n=550r/min, T _L =8N·m) in the steady state.

Figure 8 shows the motor speed, torque and a-phase current waveform under dynamic conditions (n=550r/min, T _L jumps from 2N·m to 8N·m).

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. The method of the invention significantly reduces the amount of calculation, also realizes the predictive control of the torque, and improves the dynamic response capability of the system. Specifically include the following steps:

The five-phase motor system contains four degrees of freedom and zero-sequence components. In the normal running state of the motor, the symmetrical physical quantities in the natural coordinate system are mapped to the two orthogonal coordinate systems of d1-q1 and d3-q3 according to the extended Parker rotation transformation formula. Classify the space vectors of two-level five-phase voltage source inverters (Table 1), and calculate the magnitudes of various voltage vectors according to formula (1).

Table 1 Classification of voltage vector groups

In formula (1), U _dc represents the bus voltage on the DC side of the inverter. There is a corresponding relationship between the vectors in the d1-q1 coordinate system and the vectors in the d3-q3 coordinate system: the large, medium, and small vectors in the d1-q1 coordinate system will be mapped into small, medium, and large vectors in the d3-q3 coordinate system vector.

In order to reduce the amount of calculation, the deadbeat voltage vector is calculated first, and only 4 vectors (2 large vectors + 2 medium vectors) in the sector where the deadbeat voltage vector is located are selected as the input set, which avoids the calculation of irrelevant vectors. Redundant calculations.

The expression of surface-mounted five-phase permanent magnet synchronous motor torque T _e is:

In the formula, δ represents the load angle between the motor stator and rotor flux linkage, N _p represents the number of pole pairs of the motor, L _d represents the direct axis inductance, ψ _f represents the flux linkage of the permanent magnet, and ψ _s represents the stator flux linkage. In the direct torque control method, the magnitude of the stator flux linkage is usually kept constant, and the torque change of the motor is adjusted by changing the magnitude of the load angle. In general, the load angle and its variation are small, which can be approximated:

δ≈sinδ (3)

Based on this, according to the torque error at time k, the change amount Δδ of the required load angle is calculated as:

T _e ^ref represents the given value of the outer ring torque of the motor speed.

Calculate the flux linkage error in the αβ coordinate system according to formula (4):

ψ _s ^ref represents the given value of the fundamental flux linkage. According to the stator voltage equation of the motor, the αβ component of the deadbeat predicted voltage vector can be obtained:

Finally, the amplitude and position information of the voltage vector in the deadbeat control algorithm are obtained according to formula (6):

Table 2 divides and defines the resulting deadbeat voltage vector. The sector where it is located is determined according to the calculated voltage position angle information.

Table 2 Sector division and control set selection table

According to the sector number, the four voltage vectors (2 large vectors + 2 medium vectors) in the control set are traversed and predicted, and then the optimal vector is selected according to the objective function. Define the objective function J as:

Where i=m, m+1, m+2, m+3; m represents the sector number where the deadbeat voltage vector is located in each sampling period; ψ _sd1-q1 ^ref represents the given value of the fundamental space flux linkage; T _e (k+1), ψ _sd1-q1 (k+1) represent the predicted values of torque and flux linkage at time k+1 respectively; ψ _sd3-q3 (k+1) represents the harmonic flux linkage at time k+1 ; λ ₁ , λ ₂ are the weight coefficients of the fundamental wave space and harmonic space stator flux components in the evaluation function; ψ _sd3-q3 ^ref is the given value of harmonic space flux linkage, in order to suppress the The values of low harmonics are all set to 0. The I _max item in the objective function reflects the current protection function, and its definition is as formula (9):

|I _lim | indicates the set current limit value. When the current amplitude after detecting a certain voltage vector exceeds the limit of the maximum value, the voltage vector will not be selected; if it is within the range of the given value, this item will not be selected. Affects the moderating effect of the objective function.

In Fig. 1, the whole system is divided into four parts: rotor flux linkage and torque observation, deadbeat voltage vector calculation, torque and flux linkage prediction calculation, and space rotation coordinate transformation calculation. The specific contents of the main parts are:

1) Rotor flux linkage and torque observation

The method of the present invention needs to inversely calculate the voltage vector to be applied at the kth moment according to the flux linkage and torque error, so real-time observation of the rotor flux linkage is required. The given value of the torque is obtained from the speed error through a PI controller.

2) Deadbeat voltage vector calculation

Fig. 2 shows a schematic diagram of the calculation principle of the deadbeat voltage vector. The load angle is approximated, combined with the torque error to obtain the expected change of the load angle △δ, and the flux linkage error in the αβ coordinate system is calculated. According to the flux linkage error, the deadbeat voltage vector and its sector are calculated, and the 4 voltage vectors (2 medium vectors + 2 large vectors) in the sector are the input set of the FCS-MPTC method.

3) Predictive calculation of torque and flux linkage

In the FCS-MPTC method, the accuracy of the torque prediction calculation part directly affects the control performance of the system. Taking the current as the state variable, according to the form of the standard state space function, the state equation is written as: In order to obtain the discretized motor current state equation, an assumption is made when the sampling time T _s is small: it is considered that the system input variable u is constant within the time of kT _s ~ (k+1)T _s ; H represents the influence of back EMF, For the current loop, the change is relatively slow, and it is also considered that H is constant within the time interval of kT _s ~ (k+1)T _s . The torque and flux linkage prediction block diagram of the graph is obtained, and the coefficient matrix in the formula is as follows:

Different voltage vectors in the input set correspond to different predicted values of torque and flux linkage. Combined with the objective function, the predicted flux linkage and torque are evaluated, and the switch state with the smallest objective function value is selected as the input of the system at the next moment.

4) Space rotation coordinate transformation calculation

Figure 5 shows the extended Parker transformation matrix used for the transformation from the five-phase stationary coordinate system to the double d-q coordinate system. The sensor detects the phase current in the usual abcde coordinate system, and the prediction model is carried out in the d-q rotating coordinate system, so it is necessary to first transform the current detected by the sensor into the d1-q1 coordinate system and the d3-q3 coordinate system .

Claims (4)

1. a five-phase permanent magnet synchronous motor model predictive torque control method, is characterized in that, comprises the following steps: Step 1: According to the extended Parker rotation transformation formula, the physical quantities such as voltage, current, flux linkage, and torque of the five-phase permanent magnet synchronous motor in the natural coordinate system are mapped to two orthogonal coordinate systems d1-q1 and d3-q3 respectively Down; Step 2: Classify the basic space voltage vectors of the two-level five-phase voltage source inverter, and calculate the magnitudes of the large, medium and small voltage vectors as follows: In the formula, U _L , U _M , U _S represent the amplitudes of the large, medium and small voltage vectors respectively; U _dc represents the bus voltage of the DC side of the inverter; Step 3: Calculate the predicted value of the deadbeat voltage vector according to the torque and flux linkage error of the five-phase motor, and then extract the amplitude and position information of the deadbeat predicted voltage vector; Step 4: Determine the sector where the deadbeat voltage vector is located according to the calculated voltage vector position information; Step 5: Select 4 vectors in the sector where the deadbeat voltage vector is located as the input set of predictive control; Step 6: Predict, evaluate and calculate the voltage vectors in the control set, and select the voltage vector corresponding to the minimum value of the objective function to apply to the inverter. 2. a kind of five-phase permanent magnet synchronous motor model predictive torque control method as claimed in claim 1, is characterized in that, described step 3 is specifically: According to the torque error at time k, the change amount Δδ of the required load angle δ is calculated as: $\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; \&delta;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; 5</span>}}\frac{<span\; class="notranslate">\; \&lsqb;</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&rsqb;</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}}{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}}$ _Te ^ref represents the given value of the outer ring torque of the motor speed; δ represents the load angle between the motor stator and rotor flux linkage, N _p represents the number of pole pairs of the motor, L _d represents the direct axis inductance, ψ _f represents the magnetic flux of the permanent magnet chain, ψ _s represents the stator flux linkage vector; According to formula Calculate the stator flux linkage error in the αβ coordinate system: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; \&Delta;\&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; |</span>{{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}^{\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&delta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; \&delta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; cos\&delta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; \&Delta;\&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; |</span>{{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}^{\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&delta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\mathrm{<span\; class="notranslate">\; \&delta;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; sin\&delta;</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\end{array}\right.$ ψ _s ^ref represents the given value of fundamental flux linkage; The components U _α and U _β of the deadbeat voltage vector prediction value in the two-phase αβ stationary coordinate system are: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; \&Delta;\&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\\ {\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; \&Delta;\&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; i</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}\end{array}\right.$ final basis Obtain the amplitude and position information of the voltage vector in the deadbeat control method: $\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; =</span>\sqrt{{{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\\ {\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; f</span>}}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}<span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; .</span>$ 3. a kind of five-phase permanent magnet synchronous motor model predictive torque control method as claimed in claim 1 or 2, is characterized in that, described objective function is: $\mathrm{<span\; class="notranslate">\; J</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; q</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; q</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; q</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}^{\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; e</span>}\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; q</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}$ Among them, i=m, m+1, m+2, m+3; m represents the sector number where the deadbeat voltage vector is located in each sampling period; ψ _sd1-q1 ^ref represents the given fundamental space stator flux linkage value; T _e (k+1), ψ _sd1-q1 (k+1) represent the predicted values of torque and stator flux linkage at k+1 time respectively; ψ _sd3-q3 (k+1) represents the stator flux at k+1 time The harmonic prediction value of flux linkage; ψ _sd3-q3 ^ref is the given value of stator flux linkage in harmonic space; λ ₁ and λ ₂ are the weight coefficients of stator flux components in fundamental wave space and harmonic space respectively. 4. a kind of five-phase permanent magnet synchronous motor model predictive torque control method as claimed in claim 3, is characterized in that, I _max in the objective function is: ${\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; |</span><span\; class="notranslate">\; <</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; lim</span>}}<span\; class="notranslate">\; |</span>\\ \mathrm{<span\; class="notranslate">\; \&infin;</span>}& <span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; |</span><span\; class="notranslate">\; \&Greater\; Equal;</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; lim</span>}}<span\; class="notranslate">\; |</span>\end{array}\right.$ |I _lim | indicates the set current limit value, when it is detected that the current amplitude after the action of a certain voltage vector exceeds the limit of the maximum value, the voltage vector will not be selected.