阅读说明：本技术 基于离散空间矢量调制的永磁同步电机模型预测控制方法 (Permanent magnet synchronous motor model prediction control method based on discrete space vector modulation ) 是由 张永昌 姜皓 杨海涛 于 2019-10-22 设计创作，主要内容包括：本发明公开了一种基于离散空间矢量调制的永磁同步电机模型预测控制方法,属于高性能永磁同步电机调速控制技术领域。该永磁同步电机模型预测控制方法通过首先使用无差拍模型预测方法,获得指令电压矢量<Image he="81" wi="122" file="DDA0002243109590000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>此步骤需考虑数字延时补偿；然后用空间矢量调制算法得到三个电压矢量u<Sub>x</Sub>,u<Sub>y</Sub>,u<Sub>0</Sub>及其对应的作用时间；最后使用离散空间矢量调制算法,重构三相占空比,构建逆变器每个开关管的驱动信号。在本发明所述永磁同步电机模型预测控制方法中,与传统模型预测控制方法相比,扩大了候选电压矢量的范围,使电压矢量误差减小,从而改善了电流谐波和转矩脉动。(The invention discloses a permanent magnet synchronous motor model prediction control method based on discrete space vector modulation, and belongs to the technical field of high-performance permanent magnet synchronous motor speed regulation control. The permanent magnet synchronous motor model prediction control method obtains an instruction voltage vector by firstly using a dead-beat model prediction method This step requires consideration of digital delay compensation; then three voltage vectors u are obtained by using a space vector modulation algorithm x ,u y ,u 0 And its corresponding action time; finally, using discrete space vector modulation algorithm, reconstructingAnd the three-phase duty ratio is used for constructing a driving signal of each switching tube of the inverter. Compared with the traditional model predictive control method, the model predictive control method for the permanent magnet synchronous motor enlarges the range of candidate voltage vectors, reduces the error of the voltage vectors and improves current harmonics and torque ripple.)

1. A permanent magnet synchronous motor model prediction control method based on discrete space vector modulation is characterized by comprising the following steps:

obtaining a command voltage vector according to a dead-beat model prediction method

According to three voltage vectors u_x,u_y,u₀And corresponding action time, and reconstructing three-phase duty ratio d by using discrete space vector modulation algorithm₁,d₂,d₃；

According to three-phase duty ratio d₁,d₂,d₃And constructing a driving signal of each switching tube of the inverter.

2. The permanent magnet synchronous motor model predictive control method of claim 1, characterized in that a command voltage vector is acquired according to a dead-beat model predictive method

obtaining a q-axis current command through a speed outer loop PI regulator

According to the rotor position information theta and q axis current instruction

According to the real-time sampling current, voltage, rotating speed and current instruction

3. The PMSM model predictive control method of claim 2, wherein the q-axis current command is obtained through a speed outer loop PI regulator

In the formula, k_pProportional gain in the PI regulator; k is a radical of_iIs the integral gain in the PI regulator; omega^*Is a speed command; and omega is the actual speed of the permanent magnet synchronous motor.

4. The permanent magnet synchronous motor model predictive control method according to claim 2 or 3, characterized in that the rotor position information θ is acquired by a photoelectric encoder.

5. The PMSM model predictive control method of any of claims 2-4, wherein the following calculation is used to obtain

In the formula (I), the compound is shown in the specification,

6. The PMSM model predictive control method of any of claims 1-5, wherein three voltage vectors u used in space vector modulation are obtained_x,u_y,u₀And their corresponding action times, including_x,u_y,u₀Synthesizing command voltage vectors

d_x＝msin(60°-α)

d_y＝msinα

d₀＝1-d_x-d_y

Wherein α is

7. Permanent magnet synchronous motor model predictive control method according to one of claims 1-6, characterized in that three voltage vectors u are used as a function of_x,u_y,u₀And its corresponding action time, using discrete space vector modulation algorithm to reconstruct three phasesDuty ratio d₁,d₂,d₃The method comprises the following steps:

calculating the number of equivalent small vectors used for synthesizing the virtual vector in the discrete space vector modulation;

calculating three-phase duty ratio d based on discrete space vector modulation according to the number of the equivalent small vectors₁,d₂,d₃。

8. The model predictive control method of a PMSM according to claim 7, wherein the three-phase duty cycle d is calculated using the following equation₁,d₂,d₃：

n_x＝round(d_xN)

n_y＝round(d_yN)

n₀＝1-n_x-n_y

Wherein, i is 1,2,3 represents a, b, c three-phase; s ═ S (u)₀),S(u_x),S(u_y)]Is a switch state matrix; n represents that one switching period is divided into N equal parts; s (i,1) is the element of the 1 st column in the ith row in the 3 x 3 matrix S; s (i,2) is an element in the ith row and the 2 nd column in S; s (i,3) is the element in the ith row and the 3 rd column of S.

9. An electronic device, comprising: at least one processor and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the discrete space vector modulation based PMSM model predictive control method of claims 1-8.

10. A readable computer storage medium having stored thereon computer instructions, wherein the instructions, when executed by a processor, implement the discrete space vector modulation based permanent magnet synchronous motor model predictive control method of any of claims 1-8.

Technical Field

The invention belongs to the technical field of high-performance permanent magnet synchronous motor speed regulation control, and particularly relates to a permanent magnet synchronous motor model prediction control method based on discrete space vector modulation.

Background

Model Predictive Control (MPC) has emerged in process control in the late industrial field of the 20 th century, 70 s, and has been widely used in early industrial application industries, such as chemical industry. In the 90 s of the 20 th century, Holtz, a German scholarer, originally applied model predictive control to the field of power electronic transmission. In recent years, along with the improvement of the performance of a digital processor and the reduction of the cost thereof, the large calculation amount is no longer a barrier for limiting the development of model predictive control, and the method becomes a research hotspot gradually due to the advantages of simple principle, high response speed, being good at processing multi-constraint multivariable problems and the like.

At present, model prediction control becomes an important branch of control methods in the field of power electronic transmission. However, the conventional model predictive control applies only one basic voltage vector in one control cycle, resulting in large current harmonics and torque ripple when the sampling frequency is not high.

Disclosure of Invention

In view of this, the embodiment of the present invention provides a model predictive control method for a permanent magnet synchronous motor based on discrete space vector modulation, so as to solve the problem that a traditional model predictive control scheme has large current ripple and large torque ripple when a sampling frequency is low.

According to a first aspect, the embodiment of the invention provides a permanent magnet synchronous motor model prediction control method based on discrete space vector modulation to reduce current ripple and torque ripple

And three voltage vectors u used in space vector modulation are obtained_x,u_y,u₀And its corresponding action time d_x，d_y，d₀(ii) a According to three voltage vectors u_x,u_y,u₀And their corresponding action times, such thatReconstructing three-phase duty ratio d by discrete space vector modulation algorithm₁,d₂,d₃(ii) a According to three-phase duty ratio d₁,d₂,d₃And constructing a driving signal of each switching tube of the inverter.

In the method for the model predictive control of the permanent magnet synchronous motor based on discrete space vector modulation, the problems of large current ripple, large torque ripple and poor steady-state performance when the sampling rate is not high in the traditional model predictive control scheme are solved. Specifically, the rotating speed outer ring is controlled by a PI regulator, and a current instruction is obtained. The current inner loop is controlled using model prediction based on discrete space vector modulation. Firstly, a dead beat model prediction method is used to obtain an instruction voltage vector

(i.e., reference voltage vector), this step takes into account digital delay compensation; then three voltage vectors u are obtained by using a space vector modulation algorithm_x,u_y,u₀(i.e., three fundamental voltage vectors) and their corresponding action times (i.e., duty cycles); and finally, reconstructing a three-phase duty ratio by using a discrete space vector modulation algorithm, and constructing a driving signal of each switching tube of the inverter. Compared with the traditional model predictive control method, the model predictive control method for the permanent magnet synchronous motor enlarges the range of candidate voltage vectors, reduces the error of the voltage vectors and improves current harmonics and torque ripple. Compared with the traditional discrete space vector modulation method, the method greatly simplifies the steps of obtaining the virtual voltage vector, does not need table lookup and enumeration, has small calculated amount, and is simple and easy to use.

With reference to the first aspect, in the first embodiment of the first aspect, the command voltage vector is obtained according to a dead-beat model prediction method

Includes obtaining a q-axis current command through a speed outer loop PI regulatorBased on the rotor position information theta,q-axis current command

And d-axis current instruction given according to requirementsCoordinate transformation is carried out to obtain a current command under a two-phase static (α) coordinate systemAccording to the real-time sampling current, voltage, rotating speed and current instruction

Obtaining a command voltage vector

With reference to the first aspect or the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the q-axis current command is obtained through a speed outer loop PI regulator

Includes calculating the q-axis current command by using the following formula

In the formula, k_pProportional gain in the PI regulator; k is a radical of_iIs the integral gain in the PI regulator; omega^*Is a speed command; and omega is the actual speed of the permanent magnet synchronous motor.

With reference to the first aspect or the first embodiment or the second embodiment of the first aspect, in a third embodiment of the first aspect, the rotor position information θ is acquired by a photoelectric encoder.

With reference to the first aspect or the first and second embodiments of the first aspectOr the third embodiment, the fourth embodiment of the first aspect, the following formula is used to calculate

In the formula (I), the compound is shown in the specification,

is a command voltage vector; r_sIs a stator resistor;the current amplitude at the time k + 1;the current amplitude at time k; l is_sIs an inductor; t is_scIs the sampling time;

is a command current vector; e is the back electromotive force of the electromagnetic wave,

e is a natural constant; j is an imaginary unit;

the actual speed of the permanent magnet synchronous motor;

is the voltage vector at time k; psi_fIs a permanent magnet flux linkage;is the rotor position angle at time k;

is a d-axis current command;

is a q-axis current command.

With reference to the first aspect or any one of the first to fourth embodiments of the first aspect, in a fifth embodiment of the first aspect, three voltage vectors u used in space vector modulation are acquired_x,u_y,u₀And their corresponding action times, including_x,u_y,u₀Synthesizing command voltage vectors

And d is calculated by the following formula_x，d_y，d₀：

d_x＝m sin(60°-α)

d_y＝m sinα

d₀＝1-d_x-d_y

Wherein α is

And u_xThe included angle between them;

is the modulation ratio; u. of_dcIs the dc bus voltage.

With reference to the first aspect or any one of the first to fifth embodiments of the first aspect, in a sixth embodiment of the first aspect, the three voltage vectors u are based on_x,u_y,u₀And corresponding action time, and reconstructing three-phase duty ratio d by using discrete space vector modulation algorithm₁,d₂,d₃The method comprises the following steps:

calculating the number of equivalent small vectors used for synthesizing the virtual vector in the discrete space vector modulation;

calculating three-phase duty ratio d based on discrete space vector modulation according to the number of the equivalent small vectors₁,d₂,d₃。

With reference to the first aspect or any one of the first to sixth embodiments of the first aspect, in a seventh embodiment of the first aspect, the three-phase duty ratio d is calculated by using the following formula₁,d₂,d₃：

n_x＝round(d_xN)

n_y＝round(d_yN)

n₀＝1-n_x-n_y

Wherein, i is 1,2,3 represents a, b, c three-phase; s ═ S (u)₀),S(u_x),S(u_y)]Is a switch state matrix; n represents that one switching period is divided into N equal parts; s (i,1) elements in the 1 st column of the ith row in the 3 x 3 matrix S; s (i,2) is an element in the ith row and the 2 nd column in S; s (i,3) is the element in the ith row and the 3 rd column of S.

According to a second aspect, an embodiment of the present invention provides an electronic device, including: at least one processor and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the discrete space vector modulation based PMSM model predictive control method described above.

According to a third aspect, the embodiment of the present invention provides a readable computer storage medium, on which computer instructions are stored, and the instructions, when executed by a processor, implement the above-mentioned discrete space vector modulation-based permanent magnet synchronous motor model prediction control method.

Compared with the prior art, the invention has the following characteristics and advantages: (1) the current harmonic wave and the torque ripple of the traditional model predictive control are reduced, and the dynamic performance and the steady-state performance are good; (2) when a sampling period is divided into any equal parts, only the value of N is needed to be set in the algorithm, and a redo table is not needed; (3) the existing method combining discrete space vector modulation and model predictive control divides a control period into N equal parts, introduces virtual voltage vectors and expands the range of candidate voltage vectors, thereby increasing the control precision and improving the problems of current harmonic waves and torque ripple. However, this method requires multiple enumerations, and especially when N is increased, the number of enumerations increases exponentially, which greatly increases the burden on the controller. On the contrary, the invention does not need to enumerate a large number of virtual voltage vectors, thereby greatly reducing the computational complexity of the predictive control of the traditional discrete space vector modulation model and reducing the burden of the controller.

Drawings

The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:

fig. 1 is a hardware structure diagram of a permanent magnet motor speed regulation control system according to an embodiment of the present invention;

fig. 2 is a structural block diagram of a model predictive control of a permanent magnet synchronous motor based on discrete space vector modulation according to an embodiment of the present invention;

FIG. 3 is a graph showing the experimental results of the conventional model predictive control of the permanent magnet motor at a sampling rate of 20kHz and with a rated load when the motor is operated at 150rpm according to the embodiment of the present invention;

fig. 4 is an experimental result of a model of a permanent magnet synchronous motor based on discrete space vector modulation, which is provided by the embodiment of the present invention, with a rated load when the motor operates at 150rpm under a sampling rate of 10 kHz;

FIG. 5 shows the experimental results of the conventional model predictive control of the permanent magnet motor at a sampling rate of 20kHz and the motor with a rated load when operating at 1500rpm according to the embodiment of the present invention;

fig. 6 is an experimental result of a model of a permanent magnet synchronous motor based on discrete space vector modulation, which is provided by the embodiment of the present invention, with a rated load when the motor operates at 150rpm under a prediction control at a sampling rate of 10 kHz;

fig. 7 is an experimental result of the case where the motor is suddenly rotated reversely from the rated rotation speed under the sampling rate of 20kHz by the conventional model prediction control of the permanent magnet motor according to the embodiment of the present invention;

fig. 8 is an experimental result of the discrete space vector modulation-based permanent magnet motor model when the motor is suddenly rotated reversely from the rated rotation speed under the prediction control at the sampling rate of 10kHz according to the embodiment of the present invention;

fig. 9 is a flowchart of a method for model predictive control of a permanent magnet synchronous motor based on discrete space vector modulation according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, fig. 1 is a hardware structure diagram of a speed regulation control system of a permanent magnet motor according to an embodiment of the present invention, which includes a three-phase voltage source, a three-phase diode rectifier bridge, a dc side capacitor, a permanent magnet motor, a voltage and current sampling circuit, a DSP (Digital Signal Processing) controller, and a driving circuit. The voltage and current sampling circuit respectively collects direct current side voltage and phase current of the permanent magnet motor a and b by using the voltage Hall sensor and the current Hall sensor, and sampling signals enter the DSP controller after passing through the signal conditioning circuit and are converted into digital signals. The DSP controller completes the operation of the method provided by the invention, outputs six paths of switching pulses, and then obtains final driving signals of six switching tubes of the inverter after passing through the driving circuit.

As shown in fig. 9, the method for model predictive control of a permanent magnet synchronous motor based on discrete space vector modulation according to the embodiment of the present invention is used to reduce the complexityThe permanent magnet synchronous motor model prediction control method comprises the step of S1, obtaining a command voltage vector according to a dead-beat model prediction method

And three voltage vectors u used in space vector modulation are obtained_x,u_y,u₀And its corresponding action time d_x，d_y，d₀(ii) a S2, according to three voltage vectors u_x,u_y,u₀And corresponding action time, and reconstructing three-phase duty ratio d by using discrete space vector modulation algorithm₁,d₂,d₃(ii) a S3, according to the three-phase duty ratio d₁,d₂,d₃And constructing a driving signal of each switching tube of the inverter.

In the method for the model predictive control of the permanent magnet synchronous motor based on discrete space vector modulation, the problems of large current ripple, large torque ripple and poor steady-state performance when the sampling rate is not high in the traditional model predictive control scheme are solved. Specifically, the rotating speed outer ring is controlled by a PI regulator, and a current instruction is obtained. The current inner loop is controlled using model prediction based on discrete space vector modulation. Firstly, a dead beat model prediction method is used to obtain an instruction voltage vector

(i.e., reference voltage vector), this step takes into account digital delay compensation; then three voltage vectors u are obtained by using a space vector modulation algorithm_x,u_y,u₀(i.e., three fundamental voltage vectors) and their corresponding action times (i.e., duty cycles); and finally, reconstructing a three-phase duty ratio by using a discrete space vector modulation algorithm, and constructing a driving signal of each switching tube of the inverter. Compared with the traditional model predictive control method, the model predictive control method for the permanent magnet synchronous motor enlarges the range of candidate voltage vectors, reduces the error of the voltage vectors and improves current harmonics and torque ripple. Compared with the traditional discrete space vector modulation method, the method greatly simplifies the steps of obtaining the virtual voltage vectorAnd table lookup and enumeration are not needed, the calculation amount is small, and the method is simple and easy to use.

Specifically, a command voltage vector is acquired according to a dead-beat model prediction method

Includes obtaining a q-axis current command through a speed outer loop PI regulator

According to the rotor position information theta and q axis current instruction

And d-axis current instruction given according to requirements

Coordinate transformation is carried out to obtain a current command under a two-phase static (α) coordinate system

According to the real-time sampling current, voltage, rotating speed and current instruction

Obtaining a command voltage vector

As an alternative implementation, the q-axis current command is obtained by a speed outer loop PI regulator

Includes calculating the q-axis current command by using the following formula

In the formula, k_pIn PI regulatorsProportional gain of (c); k is a radical of_iIs the integral gain in the PI regulator; omega^*Is a speed command; and omega is the actual speed of the permanent magnet synchronous motor.

In one embodiment, the rotor position information θ is obtained by a photoelectric encoder.

More specifically, the following formula is used to calculate

In the formula (I), the compound is shown in the specification,

is a command voltage vector; r_sIs a stator resistor;

the current amplitude at the time k + 1;

the current amplitude at time k; l is_sIs an inductor; t is_scIs the sampling time;

is a command current vector; e is the back electromotive force of the electromagnetic wave,

e is a natural constant; j is an imaginary unit;

to a permanent magnetActual speed of the magnetic synchronous machine;

is the voltage vector at time k; psi_fIs a permanent magnet flux linkage;

is the rotor position angle at time k;

is a d-axis current command;

is a q-axis current command.

Further, three voltage vectors u used in space vector modulation are acquired_x,u_y,u₀And their corresponding action times, including_x,u_y,u₀Synthesizing command voltage vectors

And d is calculated by the following formula_x，d_y，d₀：

d_x＝m sin(60°-α)

d_y＝m sinα

d₀＝1-d_x-d_y

Wherein α is

And u_xThe included angle between them;

is the modulation ratio; u. of_dcIs the dc bus voltage.

In particular, according to three voltage vectors u_x,u_y,u₀And corresponding action time, and reconstructing three-phase duty ratio d by using discrete space vector modulation algorithm₁,d₂,d₃The method comprises the following steps:

calculating the number of equivalent small vectors used for synthesizing the virtual vector in the discrete space vector modulation;

calculating three-phase duty ratio d based on discrete space vector modulation according to the number of the equivalent small vectors₁,d₂,d₃。

More specifically, the three-phase duty ratio d is calculated by the following formula₁,d₂,d₃：

n_x＝round(d_xN)

n_y＝round(d_yN)

n₀＝1-n_x-n_y

Wherein, i is 1,2,3 represents a, b, c three-phase; s ═ S (u)₀),S(u_x),S(u_y)]Is a switch state matrix; n represents that one switching period is divided into N equal parts; s (i,1) is the element of the 1 st column in the ith row in the 3 x 3 matrix S; s (i,2) is an element in the ith row and the 2 nd column in S; s (i,3) is the element in the ith row and the 3 rd column of S.

Compared with the prior art, the invention has the following characteristics and advantages: (1) the current harmonic wave and the torque ripple of the traditional model predictive control are reduced, and the dynamic performance and the steady-state performance are good; (2) when a sampling period is divided into any equal parts, only the value of N is needed to be set in the algorithm, and a redo table is not needed; (3) the existing method combining discrete space vector modulation and model predictive control divides a control period into N equal parts, introduces virtual voltage vectors and expands the range of candidate voltage vectors, thereby increasing the control precision and improving the problems of current harmonic waves and torque ripple. However, this method requires multiple enumerations, and especially when N is increased, the number of enumerations increases exponentially, which greatly increases the burden on the controller. On the contrary, the invention does not need to enumerate a large number of virtual voltage vectors, thereby greatly reducing the computational complexity of the predictive control of the traditional discrete space vector modulation model and reducing the burden of the controller.

To more specifically explain the discrete space vector modulation-based permanent magnet synchronous motor model prediction control method provided by the embodiment of the present invention, as shown in fig. 2, the control method is sequentially implemented on the DSP controller of fig. 1 according to the following steps:

step 1: the whole system adopts a series control structure, and a q-axis current instruction obtained according to an outer ring rotating speed PI regulatorIs particularly shown as

(k_pAnd k_iProportional gain and integral gain in the PI regulator, respectively);

step 2: according to the q-axis current instruction obtained in the step 1

And rotor position information theta obtained by the photoelectric encoder, wherein the d-axis current command is generated in a manner such that the d-axis current command is generated in step 2For example, let

Performing abc- αβ coordinate transformation to obtain a current instruction in a two-phase static coordinate system

And step 3: the predicted current at the next time can be obtained by:

wherein

Andmade of fruitTime-sampled to obtain, T_scIs the sampling time;

considering one-beat delay compensation, and according to the real-time sampled current, voltage, rotating speed and given current information in the step 2, obtaining an instruction voltage vector

(i.e. given voltage vector):

and 4, step 4: according to the voltage vector obtained in the step 3The basic voltage vector u at the next moment can be obtained by standard space vector modulation_x，u_yAnd zero vector u₀And the corresponding action time:

d_x＝m sin(60°-α)

d_y＝m sinα

d₀＝1-d_x-d_y

where α is a given voltage vector

And u_xThe angle of,

is the modulation ratio;

and 5: firstly, calculating the number of equivalent small vectors used for synthesizing virtual vectors in discrete space vector modulation:

n_x＝round(d_xN)

n_y＝round(d_yN)

n₀＝1-n_x-n_y

then, calculating three-phase duty ratio based on discrete space vector modulation:

wherein, i is 1,2,3 to represent a, b, c three phases; s ═ S (u)₀),S(u_x),S(u_y)]Is a switch state matrix;

finally, the three-phase duty ratio d₁,d₂,d₃And obtaining a driving signal for constructing each switching tube of the inverter.

The effectiveness of the method provided by the invention can be verified through simulation and experiments.

The effectiveness of the method of the present invention can be obtained by comparing the experimental results shown in fig. 3 and 4, and fig. 5 and 6, and fig. 7 and 8. Fig. 3 is an experimental result of the conventional model predictive control of the permanent magnet motor at a sampling rate of 20kHz with a rated load when the motor is operated at 150rpm, and fig. 4 is an experimental result of the method of the present invention at a sampling rate of 10kHz under the same conditions. In fig. 3 and 4, waveforms include a rotation speed, a q-axis current, a d-axis current, and a stator flux linkage amplitude in sequence from top to bottom. From the comparison between fig. 3 and 4 and fig. 5 and 6, it can be seen that the method of the present invention has better steady-state effect even when the sampling rate is lower than that of the conventional scheme, no matter the motor is operated at low speed or at high speed. Fig. 7 and 8 show experimental results of the motor suddenly rotating from a rated rotating speed, fig. 7 corresponds to the experimental results of the conventional model predictive control of the permanent magnet motor, and fig. 8 corresponds to the experimental results of the method of the present invention. From fig. 7 and 8, it can be seen that the method of the present invention has similar dynamic performance compared with the conventional model predictive control.

Furthermore, an embodiment of the present invention provides an electronic device, including: at least one processor and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the discrete space vector modulation based PMSM model predictive control method described above.

Wherein the processor and memory may be connected by a bus or other means.

The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or a combination thereof.

The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules. The processor executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory, namely, the method for the model predictive control of the permanent magnet synchronous motor based on the discrete space vector modulation is realized.

The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network.

Furthermore, an embodiment of the present invention provides a readable computer storage medium, on which computer instructions are stored, and the computer instructions, when executed by a processor, implement the above-mentioned method for model predictive control of a permanent magnet synchronous motor based on discrete space vector modulation.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.