CN108448961B - Meter and the permanent magnet synchronous motor model prediction method for controlling torque of switching frequency optimization - Google Patents

Meter and the permanent magnet synchronous motor model prediction method for controlling torque of switching frequency optimization Download PDF

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CN108448961B
CN108448961B CN201810417636.4A CN201810417636A CN108448961B CN 108448961 B CN108448961 B CN 108448961B CN 201810417636 A CN201810417636 A CN 201810417636A CN 108448961 B CN108448961 B CN 108448961B
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formula
moment
torque
function
speed
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CN108448961A (en
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於锋
田朱杰
吴晓新
刘兴
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Jiangsu Fuhao Electronic Technology Co.,Ltd.
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Nantong 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • 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
    • H02P21/20—Estimation of torque
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/26—Rotor flux based control
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

Abstract

The invention discloses a kind of meter and the permanent magnet synchronous motor model prediction method for controlling torque of switching frequency optimization, firstly, the incremental speed obtained by speed feedback obtains given torque T after PI controllere ref；The electrical angle θ of permanent magnet synchronous motor is obtained from encoder againrWith angular rate ωr, and obtain the threephase stator electric current i at k momenta, ibAnd ic, the d-q component i of k moment stator current is obtained after Clark transformation and Park transformationdAnd iq；Then, the d-q component i of prediction model on-line prediction (k+1) moment stator current is utilizedd k+1, iq k+1With electromagnetic torque Te k+1, and multiple control targets is combined to construct All Speed Range cost function；Finally, obtaining inverter optimal voltage vector by minimizing All Speed Range cost function.The present invention considers permanent magnet synchronous motor saliency, can effectively reduce inverter switching frequency, while having both good dynamic response performance, can be applicable in permanent torque area and invariable power area.

Description

Meter and the permanent magnet synchronous motor model prediction method for controlling torque of switching frequency optimization
Technical field
The present invention relates to a kind of meter and the permanent magnet synchronous motor model prediction method for controlling torque of switching frequency optimization, belong to Motor driven and control field.
Background technique
Built-in type permanent magnet synchronous motor (Interior permanent magnet synchronous motor, IPMSM) Have many advantages, such as that power density is big, small in size, good speed adjustment features are answered in new energy fields such as electric cars extensively in recent years With.Traditional high-performance permanent magnet synchronous motor method for controlling speed regulation mainly have vector controlled (Vector control, VC) and directly Direct torque (Direct torque control, DTC).VC scheme main thought is that stator current is resolved into d-q shaft current To control rotor flux and electromagnetic torque respectively, there is preferable steady-state performance, but there is also coordinate transform complexity, PI control The problems such as device parameter tuning is difficult, dynamic property is poor；And DTC scheme has knot then using the torque of IPMSM as control target The advantages that structure is simple, torque response is rapid, parameter robustness is good, while that there is also torque pulsations under low-speed run state is big, inverse Become the problems such as device switching frequency is not fixed.Therefore, in order to further increase direct Torque Control performance, in recent years, model Prediction direct torque (Model predictive torque control, MPTC) receives the extensive concern of researchers.
MPTC uses the thought of torque prediction online optimizing, by Real-time solution cost function, obtains the optimal work of inverter With voltage vector, the dynamic response performance of system can be improved, and torque pulsation can be reduced to a certain extent.Due to MPTC strategy There is preferable application prospect in PMSM frequency control field, many scholars of recent domestic are dedicated to MPTC in permanent torque area With the research and improvement in invariable power area.Torque capacity electric current ratio (Maximum torque per is used in permanent torque area Ampere, MTPA) control, reluctance torque can be efficiently used, the carrying load ability of motor is enhanced.In invariable power area, using weak magnetic Control, can widen IPMSM operational speed range.In addition, inverter switching device need to be rationally designed to improve electric system whole efficiency Frequency.Currently, reduce there are mainly two types of the methods of inverter switching device loss, one is directly to reduce switching loss as target, The loss of inverter is reduced by reducing the switching loss generated when switching device switch motion each time.Another kind is indirect Method, to reduce switching frequency as target, the switch that inverter is reduced by reducing the switching number of switching device is damaged Consumption.Compared with the former, the latter substantially represents the switching loss of inverter, control get up it is simple and easy, and in nominal torque The loss of lower two kinds of algorithms is about the same.
Chinese invention patent 201410012091.0, the low inverter power consumption Direct Torque of entitled permanent magnet synchronous motor Control method and device disclose the low inverter power consumption direct torque control of permanent magnet synchronous motor and device.This method exists On the basis of the reference value of given torque and stator magnetic linkage, their predicted value is predicted according to controller internal model, is adopted Opening for most suitable inverter is obtained with the objective function including average frequency of switching in magnetic linkage, torque and prediction time domain is minimized Off position keeps whole inverter switching frequency minimum.However the patent does not consider that inverter switching device damages when the operation of IPMSM All Speed Range The influence to motor performance is consumed, does not also consider the saliency of IPMSM.
Summary of the invention
Goal of the invention: being directed to the above-mentioned prior art, proposes a kind of permanent magnet synchronous motor model counted and switching frequency optimizes It predicts method for controlling torque, while realizing inverter switching frequency optimization, also can get preferable dynamic response performance, and And it is suitable for permanent torque area and invariable power area.
Technical solution: meter and the permanent magnet synchronous motor model prediction method for controlling torque of switching frequency optimization, including revolving speed PI controller, Model Predictive Control module, All Speed Range cost function module, inverter, coordinate transformation module, permanent magnet synchronous motor And encoder；Firstly, the incremental speed obtained by speed feedback obtains given torque T after revolving speed PI controllere ref, then The rotor electrical angle θ of permanent magnet synchronous motor is obtained from encoderrWith angular rate ωr, and obtain the threephase stator electricity at k moment Flow ia, ibAnd ic, the d-q component i of k moment stator current is obtained after Clark transformation and Park transformationdAnd iq；Then, mould is utilized The d-q component i of the stator current at type PREDICTIVE CONTROL module on-line prediction (k+1) momentd k+1, iq k+1With electromagnetic torque Te k+1, and tie Close multiple control target building All Speed Range cost functions；Finally, optimal by minimizing All Speed Range cost function acquisition inverter Voltage vector.
Further, the given torque Te refAcquisition methods are as follows: by the difference e of reference velocity and actual speednInput Revolving speed PI controller obtains torque reference T according to formula (1)e ref；
In formula, kpAnd kiThe respectively proportional gain of revolving speed PI controller and integral gain.
Further, the electrical angle θr, angular rate ωrAnd the d-q component i of k moment stator currentd, iqIt obtains Method are as follows: the electrical angle θ of permanent magnet synchronous motor is obtained from encoderr, then through formula (2) seek electrical angle θrAbout the differential of time, Obtain angular rate ωr；Permanent magnet synchronous motor k moment threephase stator electric current i is measured againa, ibAnd ic, through Clark transformation and Park The d-q component i of k moment stator current is obtained after transformationdAnd iq。
Further, (k+1) moment stator current d-q axis component i is calculatedd k+1、iq k+1With electromagnetic torque Te k+1Method Are as follows: the d-q shaft current i that will be obtainedd、iq, rotor angular rate ωrAnd rotor electrical angle θrInput prediction module, according to formula (3) the predicted current model for obtaining (k+1) moment, then obtains (k+1) moment electromagnetic torque predicted value T according to formula (4)e k +1。
In formula, ud k、uq kFor voltage of the k moment stator voltage in d-q axis component；RsFor the every phase resistance of stator；Ld、LqFor Directly, axis inductor；T is the sampling period of system；ψfFor rotor permanent magnet magnetic linkage；npFor number of pole-pairs.
Further, the cost function that control target in low-medium speed area is constructed in All Speed Range cost function module, calculates (k+ 1) moment low-medium speed area torque error function gT, low-medium speed region convergent function gMTPA, low-medium speed area current limit condition functionWith low-medium speed area direction selection function gdirMethod are as follows: according to formula (5) obtain (k+1) moment the torque of low-medium speed area Error function gT；By formula (6) and formula (7) simultaneous and enableEqual to 0, permanent magnet synchronous motor is at this time with torque capacity electricity Stream is run than mode, obtains (k+1) moment low-medium speed region convergent function g according to formula (8)MTPA；Stator current is by inverse Become device and exports maximum current ImaxLimitation, according to formula (9) obtain (k+1) moment low-medium speed area current limit condition functionTorque capacity electric current is a hyperbola than track, and electromagnetic torque caused by the track in left side is consistently greater than right side, (k+1) moment low-medium speed area direction selection function g is obtained according to formula (10)dir；
In formula, isFor stator current；ImaxFor maximum stator current；TeFor electromagnetic torque.
Further, the cost function that control target in high velocity is constructed in All Speed Range cost function module, calculates (k+1) Moment high velocity torque error function gT, high velocity region convergence function gFW, high velocity current limit condition function gIMAX, high speed Area voltage restrictive condition function gumaxWith high velocity stable operation function gstabMethod are as follows: calculate (k+1) moment according to formula (5) The torque error function g of high velocityT；Ignore Stator resistance voltage dropping when permanent magnet synchronous motor high-speed stable running, obtains formula (11), the moment high velocity (k+1) region convergence function g is obtained according to formula (12)FW；It is high that (k+1) moment is calculated according to formula (9) Fast area's current limit condition function gIMAX；When permanent magnet synchronous motor base speed operates above, by inverter maximum output voltage Constraint obtains the moment high velocity (k+1) voltage restrictive condition function g according to formula (13)umax；By formula (7) and formula (11) Simultaneous simultaneously enablesEqual to 0, minimum magnetic linkage torque ratio track is obtained, it is steady to obtain the moment high velocity (k+1) according to formula (14) Surely function g is runstab:
In formula, usFor stator voltage；ψsFor stator magnetic linkage, ψs=us/ωr；usmaxFor inverter maximum output voltage；VdcFor DC bus-bar voltage；λmFor voltage coefficient, λ is taken herem=0.96；η is voltage restrictive condition intermediate variable；ζ is that motor high speed is steady Determine operating condition intermediate variable.
Further, the acquisition inverter optimal voltage vector method are as follows: it is complete that low switching frequency is obtained according to formula (15) Fast domain cost function g (min), eight basic voltage vectors are substituted into cost function respectively, are exported so that cost function is minimum Switch state SabcTo inverter:
In formula, kT、kc、kLRespectively torque tracks gT, region convergence function gcWith constraint function gLCorresponding weight coefficient； λ is the weight coefficient of inverter switching frequency；SiIt (k) is the switch state of k moment a certain phase, Si(k-1) a certain for the k-1 moment The switch state of phase, i take a, b, c；Define ωcCorresponding angular rate, works as ω when running on base speed for permanent magnet synchronous motorr< ωcWhen, gc=gMTPAAndWork as ωr>ωcWhen, gc=gFWAnd
The utility model has the advantages that compared with prior art, the present invention is based on MPTC principle, building include direct torque, MTPA optimization, The All Speed Range cost function of multiple control targets such as current limit, voltage limitation, switching frequency limitation, and pass through the cost function Obtain the optimal voltage vector of inverter.The reduction that can not only realize inverter switching frequency is provided simultaneously with good dynamic and rings Performance is answered, and is suitable for permanent torque area and invariable power area.
Detailed description of the invention
Fig. 1 is the permanent magnet synchronous motor model prediction direct torque principle of meter and switching frequency optimization provided by the invention Figure；
Fig. 2 is control flow chart；
Fig. 3 is the permanent magnet synchronous motor model prediction direct torque simulation result for disregarding switching frequency optimization；3 (a) is not Simulation result when switching frequency optimization operation is counted, 3 (b) inhibit front stator current locus figure for switching frequency, and 3 (c) be switch The switching frequency waveform of inverter before frequency optimization；
Fig. 4 is the permanent magnet synchronous motor model prediction direct torque simulation result of meter and switching frequency optimization；4 (a) be to add Enter meter and switching frequency optimisation strategy and readjust each weight coefficient post-layout simulation results exhibit of cost function, 4 (b) press down for switching frequency Stator current trajectory diagram after system, 4 (c) be the switching frequency waveform of inverter after switching frequency optimization.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
A kind of permanent magnet synchronous motor model prediction method for controlling torque schematic diagram such as Fig. 1 institute counted and switching frequency optimizes Show, including revolving speed PI controller 1, Model Predictive Control module 2, All Speed Range cost function module 3, inverter 4, coordinate transform mould Block 5, permanent magnet synchronous motor 6 and encoder 7.
Firstly, the incremental speed obtained by speed feedback obtains given torque T after revolving speed PI controllere ref；Again The electrical angle θ of IPMSM is obtained from encoderrWith angular rate ωr, and obtain the threephase stator electric current i at k momenta, ibAnd ic, The d-q component i of k moment stator current is obtained after Clark transformation and Park transformationdAnd iq；Then, online using prediction model Predict the d-q component i of the stator current at (k+1) momentd k+1And iq k+1And (k+1) moment electromagnetic torque Te k+1, and combine multiple It controls target and constructs All Speed Range cost function；Finally, obtaining inverter optimal voltage arrow by minimizing All Speed Range cost function Amount.
Specifically includes the following steps:
(1) given torque T is calculatede ref: by the difference e of reference velocity and actual speednInput speed PI controller, according to Formula (1) obtains torque reference Te ref；
In formula, kpAnd kiThe respectively proportional gain of revolving speed PI controller and integral gain.
(2) electrical angle θ is calculatedr, angular rate ωrAnd the d-q component i of k moment stator currentdAnd iq: from encoder Obtain the electrical angle θ of IPMSMr, then through formula (2) seek electrical angle θrAbout the differential of time, angular rate ω is obtainedr；It measures again IPMSM k moment threephase stator electric current ia, ibAnd ic, i is obtained through coordinate transformation moduledAnd iq。
(3) (k+1) moment stator current d-q component i is calculatedd k+1、iq k+1With electromagnetic torque Te k+1: the i that will be obtaineddAnd iq, Rotor angular rate ωrAnd rotor electrical angle θrInput model PREDICTIVE CONTROL module obtains (k+1) moment according to formula (3) Then predicted current model obtains (k+1) according to formula (4) and carves electromagnetic torque predicted value Te k+1。
In formula, ud k、uq kFor voltage of the k moment stator voltage in d-q axis component；RsFor the every phase resistance of stator；Ld、LqFor Directly, axis inductor；ωrFor rotor angular rate；T is the sampling period of system；ψfFor rotor permanent magnet magnetic linkage；npFor number of pole-pairs.
(4) it is low to calculate (k+1) quarter for the cost function that control target in low-medium speed area is constructed in All Speed Range cost function module Middling speed area torque error function gT, low-medium speed region convergent function gMTPA, low-medium speed area current limit condition functionWith it is low Middling speed area direction selection function gdir: the low-medium speed area torque error function g at (k+1) moment is obtained according to formula (5)T；By formula (6) it and formula (7) simultaneous and enablesEqual to 0, IPMSM is run in a manner of torque capacity electric current ratio (MTPA) at this time, according to public affairs Formula (8) obtains (k+1) moment low-medium speed region convergent function gMTPA；Stator current is exported maximum current I by invertermax Limitation, according to formula (9) obtain (k+1) moment low-medium speed area current limit condition functionThe track MTPA is one double Curve, and electromagnetic torque caused by the track in left side is consistently greater than right side, obtains (k+1) moment low-medium speed according to formula (10) Area direction selection function gdir；
In formula, isFor stator current；ImaxFor maximum stator current；TeFor electromagnetic torque.
(5) cost function that control target in high velocity is constructed in All Speed Range cost function module, it is high to calculate (k+1) moment Fast area's torque error function gT, high velocity region convergence function gFW, high velocity current limit condition function gIMAX, high velocity voltage Restrictive condition function gumaxWith high velocity stable operation function gstab: the torque error function g of high velocityTSame formula (5)；IPMSM high Ignore Stator resistance voltage dropping when fast stable operation, obtain formula (11), obtains (k+1) moment high speed region according to formula (12) Convergent function gFW；High velocity current limit condition function gIMAXSame formula (9)；When IPMSM base speed operates above, most by inverter The constraint of big output voltage obtains the moment high velocity (k+1) voltage restrictive condition function g according to formula (13)umax；By formula (7) it and formula (11) simultaneous and enablesEqual to 0, minimum magnetic linkage torque ratio track is obtained, obtains (k+1) according to formula (14) Moment high velocity steady running function gstab。
In formula, usFor stator voltage；ψsFor stator magnetic linkage, ψs=us/ωr；usmaxFor inverter maximum output voltage；VdcFor DC bus-bar voltage；λmFor voltage coefficient, λ is taken herem=0.96；η is voltage restrictive condition intermediate variable；ζ is that motor high speed is steady Determine operating condition intermediate variable.
(6) the cost function g of low switching frequency All Speed Range permanent magnet synchronous motor design value function: is obtained according to formula (15) (min), eight basic voltage vectors in table 1 are substituted into cost function respectively, is exported so that the smallest switch shape of cost function State SabcTo inverter.
1 basic voltage vectors table of table
In formula, kT、kc、kLRespectively torque tracks gT, region convergence function gcWith constraint function gLCorresponding weight coefficient； λ is the weight coefficient of inverter switching frequency, and the appropriate value for increasing λ can reduce the switching number of IGBT；SiIt (k) is k The switch state of moment a certain phase, SiIt (k-1) is the switch state of k-1 moment a certain phase, i takes a, b, c；V0,V1…V7It is 8 Basic voltage vectors, j are imaginary units.Define ωcCorresponding angular rate when running on base speed for IPMSM.Work as ωr<ωcWhen, gc=gMTPAAndWork as ωr>ωcWhen, gc=gFWAnd
A kind of meter of the present invention and the permanent magnet synchronous motor model prediction method for controlling torque stream of switching frequency optimization Journey figure is as shown in Figure 2.The stator current d-q component i at k moment is obtained firstdAnd iq, rotor electrical angle θr, rotor angular rate ωrAnd given torque Teref；Then utilize the d-q component i of the stator current at formula (3) prediction (k+1) momentd k+1And iq k+1, Utilize the torque error function g at three control requirement forecast (k+1) moment of MTPA or weak magnetic control strategy based on MPTCT、 Region convergence function gcWith restrictive condition function gL；Further according to revolving speed size, the area MPTA or weak magnetic area cost function are selected；Finally It carries out online rolling calculation and obtains inverter optimized switching vector.
Fig. 3, Fig. 4 are respectively the IPMSM model prediction torque control for disregarding switching frequency optimization and meter and switching frequency optimization Simulation result processed.Emulate operating condition setting are as follows: motor is then controlled using weak magnetic, motor by starting under no load to base speed 600r/min Revolving speed reaches 1800r/min, and bust revolving speed is to 0r/min when 0.4s.Simulation result when switching frequency optimization operation is disregarded as schemed Shown in 3 (a), it can be seen that electric current and speed waveform have certain pulsation.Meter and switching frequency optimisation strategy and again is added After adjusting each weight coefficient of cost function, shown in simulation result such as Fig. 4 (a), the stable state waveform of current of electric and revolving speed is obtained at this time To certain improvement, waveform is more steady.Fig. 3 (b) be switching frequency inhibit front stator current locus figure, motor by A point along The track MTPA is controlled using weak magnetic to C point, stable point when D point is empty load of motor to B point after reaching B point.E is decelerated to from D point Point continues to be decelerated to F point after reaching E point, then along the track MTPA to A point, motor stalling.Comparative analysis Fig. 3 (b) and Fig. 4 (b) it is found that after switching frequency optimal control is added, waveform is slightly deformed at BC sections and CD sections of high speed weak magnetic, but is remained to clearly Find out whole service process.Fig. 3 (c) and Fig. 4 (c) is respectively the switching frequency waveform of switching frequency optimization front and back inverter.It can To find out, 1kHz is down to by 1.2kHz using inverter switching frequency after switching frequency optimisation strategy.So the present invention is using meter And the model Stator-Quantities Control of switching frequency optimization has good dynamic response performance, while can effectively reduce inverter Switching frequency.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (3)

1. meter and the permanent magnet synchronous motor model prediction method for controlling torque of switching frequency optimization, it is characterised in that: including revolving speed PI controller (1), Model Predictive Control module (2), All Speed Range cost function module (3), inverter (4), coordinate transformation module (5), permanent magnet synchronous motor (6) and encoder (7)；Firstly, the incremental speed obtained by speed feedback is controlled through revolving speed PI Given torque T is obtained after devicee ref, then from encoder obtain permanent magnet synchronous motor rotor electrical angle θrWith angular rate ωr, And obtain the threephase stator electric current i at k momenta, ibAnd ic, k moment stator current is obtained after Clark transformation and Park transformation D-q component idAnd iq；Then, the d-q component i of the stator current at Model Predictive Control module on-line prediction k+1 moment is utilizedd k+1, iq k+1With electromagnetic torque Te k+1, and multiple control targets is combined to construct All Speed Range cost function；Finally, by minimizing All Speed Range Cost function obtains inverter optimal voltage vector；
The given torque Te refAcquisition methods are as follows: by the difference e of reference velocity and actual speednInput speed PI controller, Torque reference T is obtained according to formula (1)e ref；
In formula, kpAnd kiThe respectively proportional gain of revolving speed PI controller and integral gain；
The electrical angle θr, angular rate ωrAnd the d-q component i of k moment stator currentd, iqAcquisition methods are as follows: from coding The electrical angle θ of permanent magnet synchronous motor is obtained in devicer, then through formula (2) seek electrical angle θrAbout the differential of time, angular rate is obtained ωr；Permanent magnet synchronous motor k moment threephase stator electric current i is measured againa, ibAnd ic, k is obtained after Clark transformation and Park transformation The d-q component i of moment stator currentdAnd iq；
Calculate k+1 moment stator current d-q axis component id k+1、iq k+1With electromagnetic torque Te k+1Method are as follows: the d-q axis that will be obtained Electric current id、iq, rotor angular rate ωrAnd rotor electrical angle θrInput module PREDICTIVE CONTROL module (2) is obtained according to formula (3) The predicted current model at k+1 moment is obtained, then obtains k+1 moment electromagnetic torque predicted value T according to formula (4)e k+1；
In formula, ud k、uq kFor voltage of the k moment stator voltage in d-q axis component；RsFor the every phase resistance of stator；Ld、LqFor straight, friendship Axle inductance；T is the sampling period of system；ψfFor rotor permanent magnet magnetic linkage；npFor number of pole-pairs；
The cost function of building low-medium speed area control target, calculates k+1 moment low-medium speed in All Speed Range cost function module (3) Area torque error function gT, low-medium speed region convergent function gMTPA, low-medium speed area current limit condition functionIn low Fast area's direction selection function gdirMethod are as follows: according to formula (5) obtain the k+1 moment low-medium speed area torque error function gT；It will Formula (6) and formula (7) simultaneous simultaneously enableEqual to 0, permanent magnet synchronous motor is run than in a manner of by torque capacity electric current at this time, K+1 moment low-medium speed region convergent function g is obtained according to formula (8)MTPA；Stator current is exported maximum current by inverter ImaxLimitation, according to formula (9) obtain k+1 moment low-medium speed area current limit condition functionTorque capacity electric current compares rail Mark is a hyperbola, and electromagnetic torque caused by the track in left side is consistently greater than right side, when obtaining k+1 according to formula (10) Carve low-medium speed area direction selection function gdir；
gT=| Te ref-Te k+1| (5)
In formula, isFor stator current；ImaxFor maximum stator current；TeFor electromagnetic torque.
2. meter according to claim 1 and the permanent magnet synchronous motor model prediction method for controlling torque of switching frequency optimization, It is characterized by: building high velocity controls the cost function of target in All Speed Range cost function module (3), the k+1 moment is calculated High velocity torque error function gT, high velocity region convergence function gFW, high velocity current limit condition function gIMAX, high velocity electricity Press restrictive condition function gumaxWith high velocity stable operation function gstabMethod are as follows: calculate k+1 moment high velocity according to formula (5) Torque error function gT；Ignore Stator resistance voltage dropping when permanent magnet synchronous motor high-speed stable running, obtains formula (11), according to Formula (12) obtains k+1 moment high velocity region convergence function gFW；K+1 moment high velocity current limit is calculated according to formula (9) Conditional function gIMAX；When permanent magnet synchronous motor base speed operates above, by the constraint of inverter maximum output voltage, according to formula (13) k+1 moment high velocity voltage restrictive condition function g is obtainedumax；By formula (7) and formula (11) simultaneous and enableDeng In 0, minimum magnetic linkage torque ratio track is obtained, obtains k+1 moment high velocity stable operation function g according to formula (14)stab:
In formula, usFor stator voltage；ψsFor stator magnetic linkage, ψs=us/ωr；usmaxFor inverter maximum output voltage；VdcFor direct current Busbar voltage；λmFor voltage coefficient, λ is taken herem=0.96；η is voltage restrictive condition intermediate variable；ζ is that motor high speed stablizes fortune Turn condition intermediate variable.
3. meter as claimed in claim 2 and the permanent magnet synchronous motor model prediction method for controlling torque of switching frequency optimization, special Sign is: the acquisition inverter optimal voltage vector method are as follows: obtains low switching frequency All Speed Range value letter according to formula (15) Number g (min), eight basic voltage vectors are substituted into cost function respectively, are exported so that the smallest switch state of cost function SabcTo inverter:
In formula, kT、kc、kLRespectively torque tracks gT, region convergence function gcWith constraint function gLCorresponding weight coefficient；λ is The weight coefficient of inverter switching frequency；SiIt (k) is the switch state of k moment a certain phase, SiIt (k-1) is k-1 moment a certain phase Switch state, i take a, b, c；Define ωcCorresponding angular rate, works as ω when running on base speed for permanent magnet synchronous motorr<ωcWhen, gc=gMTPAAndWork as ωr>ωcWhen, gc=gFWAnd
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