CN112117941A - Fault-tolerant control method of open-winding permanent magnet synchronous motor based on model prediction current control - Google Patents
Fault-tolerant control method of open-winding permanent magnet synchronous motor based on model prediction current control Download PDFInfo
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Abstract
The invention discloses a fault-tolerant control method for an open-winding permanent magnet synchronous motor based on model prediction current control. First, a reference current i is obtained by a rotational speed regulatorq ref(ii) a Then, analyzing the voltage space vector state after the fault according to the fault type of the inverter, and predicting d-axis, q-axis and zero-axis components i of the current at the (k +1) moment on line according to a prediction model and by combining a current equationd(k+1)、iq(k+1)、i0(k + 1); and then, constructing a cost function by using the predicted value of the current at the (k +1) moment and the reference value, and obtaining the optimal switching state of the inverter by minimizing the cost function. The invention can obtain good dynamic and stable performance under the fault state of the open winding permanent magnet synchronous motor inverter.
Description
Technical Field
The invention relates to a fault-tolerant control method for an open-winding permanent magnet synchronous motor based on model prediction current control, and belongs to the field of motor driving and control.
Background
The open-winding motor is characterized in that a neutral point of a traditional three-phase motor is opened to form a winding open type structure with two ports, a magnetic circuit and the structure of the motor are not changed, and the constraint relation among motor windings does not exist after the neutral point is opened, so that the windings are independent, and the reliability of a motor body and the fault-tolerant capability of a motor driving system can be improved to a certain extent. The traditional permanent magnet synchronous motor has 6 switch device structures, and in an open winding permanent magnet synchronous motor system, the double inverters supply power to enable the system to have 12 switch device structures, and the increased switch devices improve the risk of system faults.
The common direct current bus open winding permanent magnet synchronous motor system can generate zero sequence current, and the zero sequence current brings additional negative effects of copper consumption, temperature rise, torque fluctuation and the like to the system, so that the suppression of the zero sequence current is an important content in the control of the open winding motor.
Based on the above consideration, in order to ensure that the motor can still work normally under the fault working condition, a simplified PWM method is adopted to calculate the conduction time of each phase of switching tube, and the conduction time is compared with a triangular carrier wave to obtain a switching waveform diagram of the inverter, but the zero-sequence current cannot be well inhibited in fault-tolerant control after the fault. It is also proposed that the open-winding permanent magnet synchronous motor under the fault working condition adopts the SVPWM strategy, and although the zero-sequence current in the fault-tolerant control of the open-winding permanent magnet synchronous motor can be well controlled, the design is complex and the calculated amount is large.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the prior art, a fault-tolerant control method of an open-winding permanent magnet synchronous motor based on model prediction current control is provided, and better dynamic and steady-state performance can be obtained under the condition of inverter failure.
The technical scheme is as follows: a fault-tolerant control method of an open-winding permanent magnet synchronous motor based on model prediction current control comprises a rotating speed outer ring PI controller, a model prediction current control module, a value function module, an inverter, a coordinate transformation module, an open-winding permanent magnet synchronous motor and an encoder; firstly, obtaining a reference current i through a rotating speed outer ring PI controllerq refAnd giving a d-axis current reference value i d ref0; then obtaining the electrical angle theta of the permanent magnet synchronous motor from the motor encoderrAnd the electric angular velocity omega is obtained, and the three-phase stator current i at the time k is obtained by using a current sensora，ibAnd icObtaining d-q-0 axis component i of stator current at the moment k after coordinate transformationd、iqAnd i0(ii) a Further, analyzing the voltage space vector state after the fault according to the fault type of the inverter, discretizing a current differential equation by using a first-order Euler equation to obtain a stator current predicted value d-q-0 axis component i at the (k +1) momentd(k+1)、iq(k+1)、i0(k + 1); and finally, constructing a cost function by using the predicted value of the current at the (k +1) moment and the reference value, and obtaining the optimal voltage vector of the inverter by minimizing the cost function.
Further, the reference value i of the q-axis currentq refThe acquisition method comprises the following steps: the difference e between the reference rotating speed and the actual rotating speed measured by the encoder is measurednInputting a rotating speed PI controller, and obtaining the reference value i of the q-axis current according to the formula (1)q ref；
In the formula, kpAnd kiProportional gain and integral gain of the rotating speed outer ring PI controller are respectively shown, and s represents a complex variable.
Further, the electrical angle θrElectrical angular velocity ω and d-q component i of stator current at time kd，iqThe acquisition method comprises the following steps: the electrical angle thetarElectrical angular velocity ω and d-q axis component i of stator current at time kd、iq、i0The acquisition method comprises the following steps: obtaining the electrical angle theta of the permanent magnet synchronous motor from the encoderrThen, the electrical angle theta is obtained through the formula (2)rDifferentiation with respect to time yields an electrical angular velocity ω; measuring k-time three-phase stator current i of permanent magnet synchronous motor by using current sensora，ibAnd icObtaining d-q-0 axis component i of stator current at the moment k after coordinate transformationd、iq、i0。
Further, a current reference value i at the time (k +1) is calculatedd ref(k+1)、iq ref(k+1)、i0 refThe method of (k +1) is: let k be the output i of equation (1)q ref＝iq ref(k +1) and defines i0 ref(k+1)＝id ref(k+1)＝0。
Further, analyzing the voltage space after the fault according to the fault type of the inverterAnd a vector state, which predicts the current value at the (k +1) moment according to the voltage space vector, and comprises the following steps: the obtained d-q-0 axis current id、iq、i0Rotor electrical angular velocity ω and rotor electrical angle θrInputting a model prediction current control module (2), discretizing the current according to a first-order Euler equation shown in a formula (3), and obtaining a current prediction value i at the moment of (k +1) according to a formula (4)d(k+1)、iq(k+1)、i0(k+1)。
In the formula ud(k)、uq(k)、u0(k) The voltage of the stator voltage on the d-q-0 axis component at the moment k; i.e. id(k)、iq(k)、i0(k) D-q-0 axis components of the stator current at the time k respectively; r is a stator phase resistor; l isd、LqThe inductor is a direct axis inductor and a quadrature axis inductor; l is0Is a zero sequence inductance; psif1Is the flux linkage fundamental component of the permanent magnet of the rotor; psif3Is 3 harmonic components of the rotor permanent magnet flux linkage; t issIs the sampling period of the system; n ispIs the number of pole pairs; i.e. id(k+1)、iq(k+1)、i0And (k +1) is respectively the predicted values of the d-axis component, the q-axis component and the zero-axis component of the stator current at the time of (k + 1).
Further, a cost function of fault-tolerant control of the open-winding permanent magnet synchronous motor based on model prediction current control is constructed in a cost function module, and the method comprises the following steps: reference values i of amplitudes of d-axis, q-axis and zero-axis components of the stator current at the moment (k +1)d ref(k+1)、iq ref(k+1)、i0 refStator current d-axis, q-axis and zero-axis component amplitude prediction values i at (k +1) and (k +1) momentsd(k+1)、iq(k+1)、i0(k +1) input to the cost function module, and calculate the cost function g according to the formula (5)iIn turn generation by generationObtaining an optimal switching state according to the relation between the switching state and the basic voltage vector by using the voltage space vector after the inverter enters the fault;
has the advantages that: the open-winding permanent magnet synchronous motor based on the common direct current bus structure achieves the aim of inhibiting the zero sequence current by designing the value function containing the zero sequence current, only relates to a direct current power supply and does not need to be isolated, and the zero sequence current is only inhibited by changing a control method without increasing the hardware cost of a system. Compared with the traditional technology, the control method provided by the invention reduces the system calculation amount and complexity, and effectively solves the problems of operation of the open-winding permanent magnet synchronous motor inverter under the fault and zero sequence current suppression.
Drawings
FIG. 1 is a schematic diagram of a fault-tolerant control method for an open-winding permanent magnet synchronous motor according to the present invention;
fig. 2 is a1 phase fault-tolerant equivalent circuit of the fault-tolerant control method of the open-winding permanent magnet synchronous motor provided by the invention;
fig. 3 is a voltage space vector diagram under the condition of a 1-phase fault by the open-winding permanent magnet synchronous motor fault-tolerant control method provided by the invention;
fig. 4 is a steady state simulation diagram of the open winding permanent magnet synchronous motor fault tolerance control method a1 phase fault condition provided by the invention.
Detailed Description
The invention is further explained below with reference to the drawings.
A schematic diagram of a fault-tolerant control method for an open-winding permanent magnet synchronous motor based on model predictive current control is shown in fig. 1, and each module in a control system for setting the open-winding permanent magnet synchronous motor includes: the system comprises a rotating speed outer ring PI controller 1, a model prediction current control module 2, a value function module 3, an inverter module 4, an inverter module 5, a coordinate transformation module 6, an open winding permanent magnet synchronous motor 7 and an encoder 8; the inverter 4 and the inverter 5 are respectively open-winding permanent magnetsThe synchronous motor 7 supplies power, the switching states of the inverter 4 and the inverter 5 are optimally selected through the value function module 3, the encoder 8 collects information of the open-winding permanent magnet synchronous motor 7 and sends the information to the rotating speed outer ring PI controller 1 and the model prediction current control module 2, and the coordinate transformation module 6 enables the current i in the three-phase static coordinate system collected by the current sensor to be obtained through the current transformation module 6a、ib、icConversion to i in a two-phase rotating coordinate systemd、iqAnd the signal is transmitted to the model prediction current control module 2, the model prediction current control module 2 processes data and then transmits the data to the value function module 3, and the optimal switching state of the inverter is judged.
Firstly, obtaining a reference current i through a rotating speed outer ring PI controllerq refAnd giving a d-axis current reference value i d ref0; then obtaining the electrical angle theta of the permanent magnet synchronous motor from the motor encoderrAnd the electric angular velocity omega is obtained, and the three-phase stator current i at the time k is obtained by using a current sensora，ibAnd icObtaining d-q-0 axis component i of stator current at the moment k after coordinate transformationd、iqAnd i0(ii) a Further, the voltage space vector state after the fault is analyzed according to the fault type of the inverter, and a d-q-0 axis component i of the stator current predicted value at the (k +1) moment is obtained by discretizing a current equation by using a first-order Euler equationd(k+1)、iq(k+1)、i0(k + 1); and finally, constructing a cost function by using the predicted value of the current at the (k +1) moment and the reference value, and obtaining an optimal voltage vector by minimizing the cost function.
The method specifically comprises the following steps:
step 1: obtaining a q-axis current reference value i according to a rotating speed outer ring PI controllerq ref：
The difference e between the reference rotating speed and the actual rotating speed measured by the encoder is measurednInputting a rotating speed PI controller, and obtaining the q-axis current reference value i according to the formula (1)q ref；
In the formula, kpAnd kiProportional gain and integral gain of the rotating speed outer ring PI controller are respectively shown, and s represents a complex variable.
Step 2: calculating the electrical angle thetarD-q-0 component i of stator current at times k, electrical angular velocity ω andd、iq、i0：
obtaining the electrical angle theta of the permanent magnet synchronous motor from the encoderrThen, the electrical angle theta is obtained through the formula (2)rDifferentiation with respect to time yields an electrical angular velocity ω; measuring k-time three-phase stator current i of permanent magnet synchronous motor by using current sensora，ibAnd icObtaining d-q-0 axis component i of stator current at the moment k after coordinate transformationd、iq、i0。
And step 3: acquiring current reference values idref (k +1), iqref (k +1), i0ref (k +1) at the moment (k + 1);
calculating a current reference value i at the time of (k +1)d ref(k+1)、iq ref(k+1)、i0 refThe acquisition method of (k +1) is as follows: let k be the output i of equation (1)q ref＝iq ref(k +1) and defines i0 ref(k+1)＝id ref(k+1)＝0。
And 4, step 4: analyzing the voltage space vector state after the fault according to the fault type of the inverter;
inverter single-phase fault types are shown in table 1:
TABLE 1 inverter Single phase Fault types
When the a1 phase fails, the inverter 1 becomes a three-phase four-switch structure. In a two-phase stationary frame, the combination of switches can generate 4 voltage space vectors, including 4 valid vectors, without a zero vector. Similarly, when the inverter b1 or c1 phase fails, different voltage vectors are generated in different switch states, and the specific voltage vectors are shown in table 2.
TABLE 2 Voltage vector under single-phase fault of inverter
If two groups of inverters have a fault of one phase, the two conditions can be considered:
(1) inverter 1, 2 in phase and single phase fault
When a single-phase fault occurs when a of the inverters 1 and 2 are the same, the switching combination state (S) of the two inverters at the timeb1、Sc1)，(Sb2、Sc2) 16 different switch states are provided, wherein 12 effective vectors and 4 zero vectors are provided, and 9 different effective vectors and zero vectors are provided after redundant vectors are removed;
(2) the inverter 1, 2 has single-phase fault at the same time with different phases
When the inverters 1 and 2 have single-phase faults at the same time, the switching combination states of the two inverters share 16 different switching states, 16 voltage space vectors can be generated, and zero vectors do not exist.
If three phases of one inverter are all in fault, the solid-state relays connected with the group of inverters are all conducted, at the moment, the lower winding permanent magnet synchronous motor is controlled by the other group of inverters to be equivalent to a common permanent magnet synchronous motor in Y-shaped connection, and the control technology at the moment is completely consistent with that of the common permanent magnet synchronous motor; if a two-phase bridge arm of a certain inverter fails, the switching states of the inverter at the moment are only two, and the circular flux linkage vector required by the operation of the open-winding permanent magnet synchronous motor cannot be modulated at the moment. Therefore, the fault-tolerant control aims at researching the open-winding permanent magnet synchronous motor under the condition of single-phase fault.
And 5: predicting the current value at the time (k +1) according to the voltage vector:
the obtained d-q-0 axis current id、iq、i0Rotor electrical angular velocity ω and rotor electrical angle θrInputting a model prediction current control module (2), discretizing the current according to a first-order Euler equation shown in a formula (3), and obtaining a current prediction value i at the moment of (k +1) according to a formula (4)d(k+1)、iq(k+1)、i0(k+1)。
In the formula ud(k)、uq(k)、u0(k) The voltage of the stator voltage on the d-q-0 axis component at the moment k; i.e. id(k)、iq(k)、i0(k) D-q-0 axis components of the stator current at the time k respectively; r is a stator phase resistor; l isd、LqThe inductor is a direct axis inductor and a quadrature axis inductor; l is0Is a zero sequence inductance; psif1Is the flux linkage fundamental component of the permanent magnet of the rotor; psif3Is 3 harmonic components of the rotor permanent magnet flux linkage; t issIs the sampling period of the system; n ispIs the number of pole pairs; i.e. id(k+1)、iq(k+1)、i0And (k +1) is respectively a predicted value of the d-q-0 axis component of the stator current at the time of (k + 1).
Step 6: selecting an optimal voltage vector according to a cost function:
constructing a cost function in a cost function module, and referring to a reference value i of the amplitude of the (k +1) moment stator current d-q-0 axis componentd ref(k+1)、iq ref(k+1)、i0 refStator current d-q-0 axis component amplitude prediction value i at (k +1) and (k +1) momentsd(k+1)、iq(k+1)、i0(k +1) input to the cost function module, and calculate the cost function g according to the formula (5)iThe voltage space vectors after the inverter fault are substituted in sequence to select the electricity which minimizes the value functionThe voltage vector is used as an optimal voltage vector, and an optimal switching state is obtained according to the relation between the switching state and the basic voltage vector;
fig. 2 is a1 phase fault-tolerant equivalent circuit, and the open winding permanent magnet synchronous motor system structure capable of fault-tolerant operation is as follows: a fast fuse wire is connected in each phase of bridge arm of the inverter in series, and the middle point of the bridge arm is connected with a direct current bus through a solid-state relay. If the inverter bridge arm fails in the operation process, the solid-state relay corresponding to the inverter bridge arm is quickly switched on, and the failed bridge arm is switched off.
Fig. 3 is a space voltage vector diagram when the inverter a1 has a fault, in which 32 voltage vectors are shared, redundant vectors are removed, 14 different effective vectors are shared, and no zero vector is generated.
Fig. 4 is a steady-state simulation diagram of fault-tolerant control of an open-winding permanent magnet synchronous motor provided by the invention, and simulation conditions are set as follows: the given rotation speed of the motor is 200r/min, and the torque is 4 N.m. After the motor is started, the rotating speed of the motor is stabilized at 200r/min when t is 0.03s, and the advantage of fast dynamic response of model prediction current control is embodied. Meanwhile, the zero sequence current suppression effect is obvious, and the feasibility and the superiority of the fault-tolerant control method of the open-winding permanent magnet synchronous motor based on model prediction current control are explained.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A fault-tolerant control method of an open-winding permanent magnet synchronous motor based on model prediction current control is characterized by comprising the following steps:
each module in the control system of the open-winding permanent magnet synchronous motor comprises: a rotating speed outer ring PI controller (1), a model prediction current control module (2), a value function module (3), an inverter (4) and an inverter (5),The device comprises a coordinate transformation module (6), an open winding permanent magnet synchronous motor (7) and an encoder (8); the system is characterized in that the inverter (4) and the inverter (5) respectively supply power to the open-winding permanent magnet synchronous motor (7), the switching states of the inverter (4) and the inverter (5) are optimally selected through the value function module (3), the encoder (8) acquires information of the open-winding permanent magnet synchronous motor (7), data are sent to the rotating speed outer ring PI controller (1) and the model prediction current control module (2), and the coordinate transformation module (6) transmits current i acquired by the current sensor under a three-phase static coordinate systema、ib、icConversion to i in a two-phase rotating coordinate systemd、iqThe signal is transmitted to a model prediction current control module (2), the model prediction current control module (2) processes data and then transmits the data to a value function module (3) to judge the optimal switching state of the inverter;
the fault-tolerant control method of the open-winding permanent magnet synchronous motor based on model prediction current control specifically comprises the following steps:
step 1, obtaining a q-axis current reference value i according to a rotating speed outer ring PI controllerq ref；
Obtaining a q-axis current reference value i through a rotating speed outer ring PI controllerq refAnd giving a d-axis current reference value id ref＝0；
Step 2, calculating the electrical angle thetarD-q-0 component i of stator current at times k, electrical angular velocity ω andd、iq、i0；
obtaining the electrical angle theta of the permanent magnet synchronous motor from the motor encoderrAnd the electric angular velocity omega is obtained, and the three-phase stator current i at the time k is obtained by using a current sensora，ibAnd icObtaining d-q-0 axis component i of stator current at the moment k after coordinate transformationd、iqAnd i0；
Step 3, obtaining a current reference value i at the (k +1) momentd ref(k+1)、iq ref(k+1)、i0 ref(k+1)；
Step 4, analyzing the voltage space vector state after the fault according to the fault type of the inverter;
step 5, predicting a current value at the (k +1) moment according to the voltage vector;
analyzing the voltage space vector state after the fault according to the fault type of the inverter in the step 4, discretizing a current differential equation by using a first-order Euler equation to obtain a stator current predicted value d-q-0 axis component i at the moment of (k +1)d(k+1)、iq(k+1)、i0(k+1)；
Step 6, selecting an optimal voltage vector according to the cost function;
and constructing a cost function by using the predicted value of the current at the (k +1) moment and the reference value, and obtaining an optimal voltage vector by minimizing the cost function.
2. The fault-tolerant control method for the open-winding permanent magnet synchronous motor based on model predictive current control as claimed in claim 1, characterized in that: obtaining a q-axis current reference value i in the step 1q refThe method specifically comprises the following steps: the q-axis current reference value iq refThe acquisition method comprises the following steps: the difference e between the reference rotating speed and the actual rotating speed measured by the encoder is measurednInputting a rotating speed outer ring PI controller, and obtaining the q-axis current reference value i according to the formula (1)q ref；
In the formula, kpAnd kiProportional gain and integral gain of the rotating speed outer ring PI controller are respectively shown, and s represents a complex variable.
3. The fault-tolerant control method for the open-winding permanent magnet synchronous motor based on model predictive current control as claimed in claim 1, characterized in that: the electrical angle theta in the step 2rD-q-0 component i of stator current at times k, electrical angular velocity ω andd、iq、i0the obtaining method specifically comprises the following steps: obtaining the electrical angle theta of the permanent magnet synchronous motor from the encoderrThen, the electrical angle theta is obtained through the formula (2)rAboutDifferentiating the time to obtain an electrical angular velocity omega; measuring k-time three-phase stator current i of permanent magnet synchronous motor by using current sensora，ibAnd icObtaining d-q-0 axis component i of stator current at the moment k after coordinate transformationd、iq、i0；
4. The open-winding permanent magnet synchronous motor fault-tolerant control method based on model predictive current control as claimed in claim 1, characterized in that: the current reference value d-q-0 axis component i at the time of (k +1) in the step 3d ref(k+1)、iq ref(k+1)、i0 refThe method for acquiring (k +1) specifically comprises the following steps: let k be the output i of equation (1)q ref＝iq ref(k +1) and defines i0 ref(k+1)＝id ref(k+1)＝0。
5. The fault-tolerant control method for the open-winding permanent magnet synchronous motor based on model predictive current control as claimed in claim 1, characterized in that: the method for analyzing the voltage space vector state after the fault according to the fault type of the inverter in the step 4 specifically comprises the following steps: analyzing the component inverter single phase fault type, as shown in the following table:
inverter single phase fault type
When the a1 phase fails, the inverter 1 becomes a three-phase four-switch structure; under a two-phase static coordinate system, the switch combination can generate 4 voltage space vectors, wherein the 4 voltage space vectors comprise 4 effective vectors and have no zero vector; similarly, when the inverter b1 or c1 phase fails, different voltage vectors are generated under different switching states, and the voltage vector table under a specific inverter single-phase fault is as follows:
voltage vector under inverter single-phase fault
If two groups of inverters have a fault of one phase, the two conditions can be considered:
(1) inverter 1, 2 in phase and single phase fault
When a single-phase fault occurs when a of the inverters 1 and 2 are the same, the switching combination state (S) of the two inverters at the timeb1、Sc1)，(Sb2、Sc2) 16 different switch states are provided, wherein 12 effective vectors and 4 zero vectors are provided, and 9 different effective vectors and zero vectors are provided after redundant vectors are removed;
(2) the inverter 1, 2 has single-phase fault at the same time with different phases
When the inverters 1 and 2 have single-phase faults at the same time, the switching combination states of the two inverters share 16 different switching states, 16 voltage space vectors can be generated, and zero vectors do not exist.
If three phases of one inverter are all in fault, the solid-state relays connected with the group of inverters are all conducted, at the moment, the lower winding permanent magnet synchronous motor is controlled by the other group of inverters to be equivalent to a common permanent magnet synchronous motor in Y-shaped connection, and the control technology at the moment is completely consistent with that of the common permanent magnet synchronous motor; if a two-phase bridge arm of a certain inverter fails, the switching states of the inverter at the moment are only two, and the circular flux linkage vector required by the operation of the open-winding permanent magnet synchronous motor cannot be modulated at the moment.
6. The fault-tolerant control method for the open-winding permanent magnet synchronous motor based on model predictive current control as claimed in claim 1, characterized in that: the method for predicting the current value at the (k +1) time according to the current voltage space vector in the step 5 specifically includes the following steps:
the obtained d-q-0 axis current id、iq、i0Rotor electrical angular velocity ω and rotor electrical angle θrInputting a model prediction current control module (2), discretizing the current according to a first-order Euler equation shown in a formula (3), and obtaining a current prediction value i at the moment of (k +1) according to a formula (4)d(k+1)、iq(k+1)、i0(k+1)；
In the formula ud(k)、uq(k)、u0(k) Is the stator voltage d-q-0 axis component at the moment k; i.e. id(k)、iq(k)、i0(k) D-q-0 axis components of the stator current at the time k respectively; r is a stator phase resistor; l isd、LqThe inductor is a direct axis inductor and a quadrature axis inductor; l is0Is a zero sequence inductance; psif1Is the flux linkage fundamental component of the permanent magnet of the rotor; psif3Is 3 harmonic components of the rotor permanent magnet flux linkage; t issIs the sampling period of the system; n ispIs the number of pole pairs; i.e. id(k+1)、iq(k+1)、i0And (k +1) is respectively a predicted value of the d-q-0 axis component of the stator current at the time of (k + 1).
7. The fault-tolerant control method for the open-winding permanent magnet synchronous motor based on model predictive current control according to claim 1, characterized by comprising the following steps of: the method for selecting the optimal voltage vector according to the cost function in the step 6 specifically includes the following steps:
the amplitude reference value i of the (k +1) moment stator current d-q-0 axis componentd ref(k+1)、iq ref(k+1)、i0 refStator current d-q-0 axis component amplitude prediction value i at (k +1) and (k +1) momentsd(k+1)、iq(k+1)、i0(k +1) input to the cost function module, and calculate the cost function g according to the formula (5)iSequentially substituting voltage space vectors after the inverter fails, and selecting the voltage vector which enables the value function to be minimum as an optimal voltage vector so as to obtain the optimal switching state of the inverter;
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