CN111181460B - Dynamic current prediction control method, system and medium for single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor - Google Patents
Dynamic current prediction control method, system and medium for single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor Download PDFInfo
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- 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
- H02P27/08—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 with pulse width modulation
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a dynamic current prediction control method, a dynamic current prediction control system and a dynamic current prediction control medium for a single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor, wherein the method comprises the following steps: collecting motor stator current and a double-rotor position angle, selecting the rotor position angle for stable control through a rotor position dynamic selector, correcting the stator current through Newton interpolation, and then performing dynamic current prediction control; acquiring a rotating speed according to the position of the rotor, and modulating a given current by the rotating speed deviation through a PI (proportional integral) controller; and calculating a driving signal by the corrected current and the given current through a prediction controller, and driving an inverter to control the disc type counter-rotating permanent magnet motor by adopting the driving signal. The method can reduce the influence of one-beat time delay on a system in the traditional deadbeat current prediction control, ensures that the disc type counter-rotating permanent magnet synchronous motor can stably run under the condition of unbalanced load, and has good dynamic and static performances.
Description
Technical Field
The invention relates to the field of control over a disc type counter-rotating permanent magnet synchronous motor, in particular to a dynamic current prediction control method, a dynamic current prediction control system and a dynamic current prediction control medium for a single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor.
Background
A disc type contra-rotating permanent magnet synchronous motor is mainly used for driving contra-rotating propellers by a new generation of underwater propulsion technology. Modern marine equipment in use includes ships, vessels and various underwater vehicles. The traditional contra-rotating propeller is driven by a diesel engine or a steam turbine, the mechanical structure is complex, and the requirements of energy conservation and emission reduction are difficult to meet. The electric propulsion single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor has the characteristics of small volume and weight, good safety and reliability, high automation degree, good environmental protection effect and the like, is particularly suitable for the propulsion of underwater vehicles, and is widely concerned. However, the disc type counter-rotating permanent magnet synchronous motor only has one set of three-phase windings, two permanent magnet rotors need to be driven simultaneously, and the traditional control method based on one rotor orientation and the other rotor following cannot guarantee that the rotors do not step out when the load is unbalanced. In addition, the high-performance underwater vehicle has higher requirements on the steady-state precision, the dynamic response and the like of the driving system. In a permanent magnet synchronous motor driving system, the control characteristic of a current loop determines the quality of the whole driving system.
The current loop control strategies mainly include Proportional Integral (PI) control, hysteresis control, predictive control and the like. The output variable required by the future controller is predicted by the prediction control according to the mathematical model of the system, and compared with other control methods, the method has the advantages of high response speed, high tracking precision, good control effect and the like. The predictive control can be divided into various types, and common methods include hysteresis predictive control, trajectory predictive control, dead-beat predictive control and model predictive control. The dead beat current prediction control method has fixed switching frequency and high dynamic response speed, and is the most widely applied current prediction control method at present. However, the traditional deadbeat current prediction control has a fixed one-beat delay, so that the control performance is limited, and the requirement of a high-performance underwater vehicle on the control performance cannot be met. In addition, the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor is essentially different from the traditional single-stator single-rotor permanent magnet synchronous motor, the traditional dead-beat current prediction control cannot solve the problem of stable control under unbalanced load of the disc type counter-rotating permanent magnet synchronous motor, and the application range of the disc type counter-rotating permanent magnet synchronous motor is limited to some extent. Therefore, it is necessary to provide a dynamic current prediction control method for a single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problems in the prior art, the invention provides a dynamic current prediction control method, a dynamic current prediction control system and a dynamic current prediction control medium for a single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor.
In order to solve the technical problems, the invention adopts the technical scheme that:
a dynamic current prediction control method for a single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor comprises the following implementation steps:
1) collecting stator current i of disc type counter-rotating permanent magnet synchronous motor abc Angle theta with rotor position 1 、θ 2 ；
2) According to rotor position angle theta 1 、θ 2 Selecting one of the rotor position angles theta as a rotor position angle theta for stable control;
3) according to rotor position angle theta and stator current i abc D, q-axis current value i 'of the next period is predicted' d (k+1)、i′ q (k+1)；
4) D, q-axis current value i 'of the next period is corrected by adopting a correction function' d (k+1)、i′ q (k +1) feedback compensation is performed to obtain a d, q-axis current value i 'of the next cycle after correction' pd (k+1)、i′ pq (k+1)；
5) D and q axes are given current
And d, q-axis current value i 'of the next cycle after correction' pd (k+1)、i′ pq (k +1) carrying out dead-beat current prediction control to obtain d and q axis control reference voltage
And the control instruction is converted into a driving signal to a driving circuit of the rectification inverter so as to control the disc type counter-rotating permanent magnet synchronous motor.
Optionally, the detailed steps of step 2) include:
2.1) calculating the rotor position Angle θ 1 、θ 2 The difference between θ';
2.2) if the difference theta' is less than or equal to a preset threshold value alpha, selecting the rotor position angle theta 1 As a rotor position angle θ for stable control; otherwise, the rotor position angle theta is selected 2 As the rotor position angle theta for the stabilization control.
Optionally, d, q-axis current value i 'of the next cycle is predicted in step 3)' d (k+1)、i′ q The functional expression of (k +1) is as follows:
in the above formula, i d (k) And i q (k) Collecting the actual current, i, for the d, q axes of the current cycle k d (k-1) and i q (k-1) collecting the actual current for d, q axes of k-1 of the previous cycle, i d (k-2) and i q (k-2) the actual current is collected for the d, q axes of the last cycle k-2.
Optionally, d, q-axis current value i 'of the next cycle after correction in step 4)' pd (k+1)、i pq The functional expression of (k +1) is as follows:
in the above formula, i' d (k+1)、i′ q (k +1) is d, q axis predicted current value of next period k +1, h is correction coefficient, xi d (n)、ξ q And (n) is d and q axis prediction error current of Newton interpolation method.
Alternatively, Newton's interpolation d, q axis error current xi d (n)、ξ q The functional expression of (n) is as follows:
in the above formula, i' d (n)、i′ q (n) d, q-axis current values i of the predicted period n d (n)、i q And (n) is d and q axes of a period n, and the range of n is 0 to the current period k.
Optionally, in step 5), the d and q axes control the reference voltage
The calculation function of (a) is expressed as follows:
in the above formula, R is motor stator resistance, L d 、L q D, q-axis inductance components, T, of the motor s Is the current sampling period, i' pd (k+1)、i′ pq (k +1) are the corrected d and q axis current values of the next cycle,
the d and q axes of the next cycle are respectively given current, omega e1 (k)、ω e2 (k) The electrical angular velocities of the rotors 1 and 2 respectively,
is a permanent magnet flux linkage.
Optionally, step 5) is preceded by generating the next weekD, q-axis of phase given current
And generating d, q-axis given current of the next cycle
The current function of (a) is expressed as follows:
in the above-mentioned formula, the compound has the following structure,
a current is given to the q-axis of the present cycle output by the speed loop PI regulator,
the q-axis of the last cycle output by the speed loop PI regulator gives current,
the q-axis of the last cycle output by the speed loop PI regulator gives a current,
setting current for the d axis of the current period and taking the value as 0, and inputting the given rotating speed to the rotating speed loop PI regulator
And acquisition of the rotational speed omega r The difference of (a).
In addition, the invention also provides a dynamic current prediction control system of the single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor, which comprises a rotor position angle acquisition module, a stator current acquisition module, a DSP controller and a drive circuit, the output ends of the rotor position angle acquisition module and the stator current acquisition module are respectively connected with the DSP controller, the output end of the DSP controller is connected with a controlled single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor through a driving circuit, the DSP controller is programmed or configured to perform the steps of the dynamic current prediction control method of the single-stator dual-rotor disc counter-rotating permanent magnet synchronous machine, or the DSP controller is connected with a memory, and the memory is stored with a computer program which is programmed or configured to execute the dynamic current prediction control method of the single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor.
In addition, the present invention also provides a dynamic current prediction control system of a single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor, comprising a computer device programmed or configured to execute the steps of the dynamic current prediction control method of the single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor, or a computer program programmed or configured to execute the dynamic current prediction control method of the single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor is stored on a memory of the computer device.
Furthermore, the present invention provides a computer readable storage medium having stored thereon a computer program programmed or configured to execute the method for dynamic current predictive control of a single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor.
Compared with the prior art, the invention has the following advantages:
1. the invention collects the stator current i of the disc type counter-rotating permanent magnet synchronous motor abc Angle theta with rotor position 1 、θ 2 According to rotor position angle theta 1 、θ 2 One of the rotor position angles is selected as a rotor position angle theta for stable control, and the rotor position angle theta for stable control is dynamically selected according to the structure and the operation characteristics of the rotary permanent magnet synchronous motor, so that the control system can stably operate when the double-rotor load is unbalanced.
2. The invention improves the current prediction control, reduces the influence of one-beat time delay on the system in the traditional deadbeat current prediction control, ensures that the disc type counter-rotating permanent magnet synchronous motor can stably run under the condition of unbalanced load and has good dynamic and static performances.
Drawings
FIG. 1 is a schematic diagram of a basic process flow of a method according to an embodiment of the present invention.
FIG. 2 is a control schematic diagram of a method according to an embodiment of the present invention.
FIG. 3 is a detailed flow chart of the method according to the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a system according to an embodiment of the present invention.
Detailed Description
The following will further describe in detail a dynamic current prediction control method of a single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor according to the present invention, taking the loading of the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor as an example. The dynamic current prediction control method for the single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor can be applied to other application occasions of the counter-rotating permanent magnet synchronous motor.
As shown in fig. 1 and fig. 2, the implementation steps of the dynamic current prediction control method for the single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor of the present embodiment include:
1) collecting stator current i of disc type counter-rotating permanent magnet synchronous motor abc Angle theta with rotor position 1 、θ 2 ；
2) According to rotor position angle theta 1 、θ 2 Selecting one of the rotor position angles theta as a stable control rotor position angle theta;
3) according to rotor position angle theta and stator current i abc Predicting d, q-axis current value i 'of next period' d (k+1)、i′ q (k+1)；
4) D, q-axis current value i 'of the next period is corrected by adopting a correction function' d (k+1)、i′ q Performing feedback compensation on (k +1) to obtain a corrected d, q-axis current value i 'of the next period' pd (k+1)、i′ pq (k+1)；
5) D and q axes are given current
And d, q-axis current value i 'of the next cycle after correction' pd (k+1)、i′ pq (k +1) carrying out dead-beat current prediction control to obtain d and q axis control referenceVoltage of
And the control instruction is converted into a driving signal to a driving circuit of the rectification inverter so as to control the disc type counter-rotating permanent magnet synchronous motor.
In order to realize the step-out control of the motor under the condition of load imbalance, the detailed step of the step 2) in the embodiment comprises the following steps:
2.1) calculating the rotor position Angle θ 1 、θ 2 The difference between θ';
2.2) if the difference value theta' is less than or equal to the preset threshold value alpha, selecting the rotor position angle theta 1 As a rotor position angle θ for stable control; otherwise, the rotor position angle theta is selected 2 Rotor position angle θ as a stable control.
Ideally, the rotor 1 is loaded with T L1 Equal to the load T of the rotor 2 L2 Having a value of θ 1 ＝θ 2 (ii) a When the load is unbalanced, the motor is stabilized when the load T is L1 >Load T L2 When there is theta 1 <θ 2 (ii) a When load T is loaded L1 <Load T L2 When there is theta 1 >θ 2 Will theta 1 、θ 2 Making a difference, i.e. the difference theta ═ theta 1 -θ 2 (ii) a Referring to fig. 2 and 3, step 2 in this embodiment is implemented by designing the rotor position angle dynamic selector 41, and the rotor position angle dynamic selector 41 selects linearly as follows: setting a threshold value alpha and alpha of the difference value theta>0, then there are: when theta'<＝α,θ＝θ 1 (ii) a When theta'>α,θ＝θ 2 . And re-orienting the d axis of the reference rotating coordinate system to the rotor flux linkage of the corresponding theta.
In the embodiment, in order to solve the influence of one-beat delay between sampling and prediction calculation of an actual digital control system, the control position angle theta and the stator current i are used abc The current value i 'of the next period is predicted by Newton interpolation' d (k+1)、i′ q (k + 1). Referring to fig. 2 and 3, step 3) and step 4) of the present embodiment are implemented by a newton difference correction module 42 (abbreviated as newton interpolation correction in the figure), and step 3) is to perform newton interpolation correctionInterpolation, step 4) is to perform correction. In this embodiment, d, q-axis current value i 'of the next cycle is predicted in step 3)' d (k+1)、i′ q The functional expression of (k +1) is as follows:
in the above formula, i d (k) And i q (k) Collecting the actual current, i, for the d, q axes of the current cycle k d (k-1) and i q (k-1) collecting the actual current, i, for the d, q axes of the previous cycle k-1 d (k-2) and i q (k-2) the actual current is collected for the d, q axes of the last cycle k-2. In the above formula, the last cycle current i d (k-2)、i q (k-2), last cycle Current i d (k-1)、i q (k-1), and the present current i q (k) Can be obtained by sampling.
Assuming a Newton interpolation polynomial as follows:
i(x)＝c 0 +c 1 (x-x 0 )+c 2 (x-x 0 )(x-x 1 ) (2)
in the above formula x 0 ＝k-2，x 1 ＝k-1，x 2 ＝k，c 0 ＝i(x 0 )，
Let x be k +1, obtain d, q-axis current value i 'predicted for the next cycle by Newton interpolation' d (k+1)、i′ q The functional expression of (k +1) is shown in the formula (1).
In this embodiment, in step 4), to make the newton interpolation method more accurate, a correction function is used to correct i' d (k+1)、i′ q (k +1) feedback compensation is performed to obtain a corrected current value i 'of the next cycle' pd (k+1)、i′ pq (k + 1). D, q-axis current value i 'of the next cycle corrected in step 4)' pd (k+1)、i′ pq The functional expression of (k +1) is as follows:
in the above formula, i' d (k+1)、i′ q (k +1) is d, q axis predicted current value of next period, h is correction coefficient, xi d (n)、ξ q And (n) is d and q axis prediction error current of a Newton interpolation method.
In this embodiment, d and q axis error current xi of Newton's interpolation method d (n)、ξ q The functional expression of (n) is as follows:
in the above formula, i' d (n)、i′ q (n) d, q-axis current values i of the predicted period n d (n)、i q And (n) is d and q axes of a period n for collecting actual current values, and the range of n is 0 to the current period k.
Referring to fig. 2 and 3, step 5) of the present embodiment is implemented by the current prediction controller 44. In the embodiment, in step 5), the current is set
And corrected current i' pd (k+1)、i′ pq (k +1) carrying out dead-beat current prediction control to obtain control reference voltage
Controlling reference voltage of d and q axes in step 5)
The calculation function of (a) is expressed as follows:
in the above formula, R is motor stator resistance, L d 、L q Are respectively asD, q-axis inductance component, T, of the motor s Is the current sampling period, i' pd (k+1)、i′ pq (k +1) are the corrected d and q axis current values of the next cycle,
the d and q axes of the next period are respectively given current, omega e1 (k)、ω e2 (k) The electrical angular velocities of the rotors 1 and 2 respectively,
is a permanent magnet flux linkage.
In this embodiment, before the step 5), generating a given current of d and q axes for the next period
And generating the given current of d and q axes of the next period
The current function of (a) is expressed as follows:
in the above formula, the first and second carbon atoms are,
a current is given to the q-axis of the present period output by the tacho loop PI regulator (see reference numeral 43 in figure 2),
the q-axis of the last period output by the rotating speed loop PI regulator gives current,
the upper period q-axis output by the speed loop PI regulator gives current,
is the current weekIn the period d, the shaft is given with current and takes the value of 0, and the input of the rotating speed loop PI regulator is given rotating speed
And the acquisition rotational speed omega r The difference of (a).
The given currents for the last cycle and the last cycle, respectively, are known parameters. Referring to fig. 2, the tacho ring PI regulator (see reference numeral 43 in fig. 2) output
To give a given rotation speed
And acquisition of the rotational speed omega r And after making a difference, setting a current value on the q axis after the operation of the rotating speed loop PI regulator.
In summary, in the dynamic current prediction control method for the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor according to the embodiment, the motor current and the dual-rotor position angle are collected, the optimal rotor position angle is selected through the rotor position dynamic selector, the stator current is corrected through newton interpolation, and then dynamic current prediction control is performed; acquiring a rotating speed according to the position of the rotor, and modulating a given current by the rotating speed deviation through a PI (proportional integral) controller; the corrected current and the command current are calculated to form a driving signal through the prediction controller, the dynamic signal is adopted to drive the inverter to control the disc type counter-rotating permanent magnet motor, and the dynamic selector is designed according to the structure and the operation characteristics of the single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor, so that the control system can stably operate when double-rotor loads are unbalanced, a current prediction control algorithm is improved, the influence of one-beat delay on the system in the traditional dead-beat current prediction control is reduced, the disc type counter-rotating permanent magnet synchronous motor can stably operate under the condition of unbalanced loads, and the disc type counter-rotating permanent magnet synchronous motor has good dynamic and static performances.
Referring to fig. 4, the present embodiment further provides a dynamic current prediction control system for a single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor, where the system includes a rotorThe device comprises a rotor position angle acquisition module 2, a stator current acquisition module 3, a DSP controller 4 and a drive circuit 5, wherein the output ends of the rotor position angle acquisition module 2 and the stator current acquisition module 3 are respectively connected with the DSP controller 4, the output end of the DSP controller 4 is connected with a controlled single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor through the drive circuit 5, the DSP controller 4 is programmed or configured to execute the steps of the dynamic current prediction control method of the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor, or the DSP controller 4 is connected with a memory, and the memory is stored with a computer program which is programmed or configured to execute the dynamic current prediction control method of the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor. Wherein, the rotor position angle acquisition module 2 is used for acquiring the rotor position angle theta 1 、θ 2 To the DSP controller 4. The stator current acquisition module 3 is used for acquiring stator current i abc To the DSP controller 4. The DSP controller 4 is configured to acquire a current and a rotor position through the rotor position angle acquisition module 2 and the stator current acquisition module 3, execute a curing program written by the upper computer in this embodiment to obtain a driving instruction, and send the driving instruction to the driving circuit 5. In this embodiment, the driving circuit 5 is a rectification inverter circuit formed by devices such as IGBTs, and is connected to the DSP controller 4 and the single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor, and is configured to execute an instruction of the DSP controller 4 in this embodiment to drive and control the single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor. Referring to fig. 4, the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor shown in the figure has two load driving systems, the two load driving systems are connected with the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor through a shaft coupler, and stator windings of the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor are respectively connected with a driving circuit 5, so as to execute the dynamic current prediction control method of the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor in the embodiment. The upper computer 1 is connected with the DSP controller 4, and a control algorithm programming program is written into the DSP controller 4 through CCS programming software. The DSP controller 4 generates a driving signal according to the rotor position angle acquisition module 2 and the stator current acquisition module 3, operates a control program written in by the upper computer 1 to generate the driving signal, and drives the single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor to be connected with the single-stator double-rotor disc type counter-rotating permanent magnet synchronous motorAnd the driving circuit 5 is connected to control the single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor.
In addition, the present embodiment also provides a dynamic current prediction control system for a single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor, which includes a computer device programmed or configured to execute the steps of the dynamic current prediction control method for the aforementioned single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor, or a computer program programmed or configured to execute the dynamic current prediction control method for the aforementioned single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor is stored in a memory of the computer device. Furthermore, the present embodiment also provides a computer-readable storage medium having stored thereon a computer program programmed or configured to execute the aforementioned dynamic current prediction control method of a single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (8)
1. A dynamic current prediction control method of a single-stator double-rotor disc type counter-rotating permanent magnet synchronous motor is characterized by comprising the following implementation steps:
1) collecting stator current i of disc type counter-rotating permanent magnet synchronous motor abc Angle theta with rotor position 1 、θ 2 ；
2) According to rotor position angle theta 1 、θ 2 One of the rotor position angles is selected as a rotor position angle θ for the stabilization control, and the detailed steps include: 2.1) calculating the rotor position Angle θ 1 、θ 2 The difference between θ'; 2.2) if the difference theta' is less than or equal to a preset threshold value alpha, selecting the rotor position angle theta 1 As a rotor position angle θ for stable control; otherwise, the rotor position angle theta is selected 2 AsA rotor position angle θ for stable control; wherein rotor position angle theta 1 、θ 2 The difference θ' between the values is calculated in such a manner that θ ═ θ 1 -θ 2 ；
3) According to rotor position angle theta and stator current i abc D, q-axis current value i 'of the next period is predicted' d (k+1)、i′ q (k+1)；
4) D and q axis current values i 'of the next period are corrected by adopting a correction function' d (k+1)、i′ q Performing feedback compensation on (k +1) to obtain a corrected d, q-axis current value i 'of the next period' pd (k+1)、i′ pq (k+1)；
5) D and q axes are given current
And d, q-axis current value i 'of the next cycle after correction' pd (k+1)、i′ pq (k +1) carrying out dead-beat current prediction control to obtain d and q axis control reference voltage
Converting the control instruction into a driving signal to a driving circuit of the rectification inverter so as to control the disc type counter-rotating permanent magnet synchronous motor; and d, q axes control reference voltages
The calculation function of (a) is expressed as follows:
in the above formula, R is motor stator resistance, L d 、L q D, q-axis inductance components, T, of the motor s Is the current sampling period, i' pd (k+1)、i′ pq (k +1) are the corrected d and q axis current values of the next cycle，
The d and q axes of the next cycle are respectively given current, omega e1 (k)、ω e2 (k) The electrical angular velocities of the rotors 1 and 2 respectively,
is a permanent magnet flux linkage.
2. The dynamic current prediction control method of a single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor according to claim 1, wherein d, q-axis current value i 'of the next cycle is predicted in step 3)' d (k+1)、i′ q The functional expression of (k +1) is as follows:
in the above formula, i d (k) And i q (k) Collecting the actual current, i, for the d, q axes of the current cycle k d (k-1) and i q (k-1) collecting the actual current, i, for the d, q axes of the previous cycle k-1 d (k-2) and i q (k-2) the actual current is collected for the d, q axes of the last cycle k-2.
3. The method according to claim 1, wherein the d, q-axis current value i 'of the next cycle corrected in step 4) is used as the dynamic current prediction control method for the single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor' pd (k+1)、i′ pq The functional expression of (k +1) is as follows:
in the above formula, i' d (k+1)、i′ q (k +1) is the d and q axis predicted current value of the next cycle k +1, h is the correction coefficient, xi d (n)、ξ q (n) isNewton interpolation d, q axis error currents.
4. The dynamic current prediction control method of a single-stator dual-rotor disk-type counter-rotating PMSM according to claim 3, wherein d, q-axis error currents ξ of Newton's interpolation d (n)、ξ q The calculation function expression of (n) is as follows:
in the above formula, i' d (n)、i′ q (n) d, q-axis current values i of the predicted period n d (n)、i q And (n) is the d and q axes of the period n for collecting the actual current value, and the range of n is 0 to the current period k.
5. The dynamic current prediction control method for a single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor according to claim 1, wherein step 5) is preceded by generating d and q-axis given currents for the next cycle
And generating d, q-axis given current of the next cycle
The current function of (a) is expressed as follows:
in the above formula, the first and second carbon atoms are,
a current is given to the q-axis of the present cycle output by the speed loop PI regulator,
the q-axis of the last cycle output by the speed loop PI regulator gives current,
the q-axis of the last cycle output by the speed loop PI regulator gives a current,
setting current for the d axis of the current period and taking the value as 0, and inputting the given rotating speed to the rotating speed loop PI regulator
And the acquisition rotational speed omega r The difference of (a).
6. A dynamic current prediction control system of a single-stator and double-rotor disc type counter-rotating permanent magnet synchronous motor, which is characterized by comprising a rotor position angle acquisition module (2), a stator current acquisition module (3), a DSP controller (4) and a driving circuit (5), wherein output ends of the rotor position angle acquisition module (2) and the stator current acquisition module (3) are respectively connected with the DSP controller (4), an output end of the DSP controller (4) is connected with a controlled single-stator and double-rotor disc type counter-rotating permanent magnet synchronous motor through the driving circuit (5), the DSP controller (4) is programmed or configured to execute the steps of the dynamic current prediction control method of the single-stator and double-rotor disc type counter-rotating permanent magnet synchronous motor according to any one of claims 1 to 5, or the DSP controller (4) is connected with a memory, and the memory is stored on the memory and is programmed or configured to execute the single-stator and double-rotor disc type counter-rotating permanent magnet synchronous motor according to any one of claims 1 to 5 A computer program of a dynamic current prediction control method of a counter-rotating permanent magnet synchronous motor.
7. A dynamic current prediction control system of a single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor, comprising a computer device, characterized in that the computer device is programmed or configured to execute the steps of the dynamic current prediction control method of the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor according to any one of claims 1 to 5, or a computer program programmed or configured to execute the dynamic current prediction control method of the single-stator dual-rotor disc type counter-rotating permanent magnet synchronous motor according to any one of claims 1 to 5 is stored on a memory of the computer device.
8. A computer-readable storage medium having stored thereon a computer program programmed or configured to execute the method for dynamic current prediction control of a single-stator dual-rotor disc-type counter-rotating permanent magnet synchronous motor according to any one of claims 1 to 5.
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