永磁同步电机(Permanent Magnet Synchronous Motor, PMSM)以其效率高、功率密度大、稳定性好等优势被广泛应用于各个领域。PMSM虽然优势明显，但也面临启动性能欠佳的问题。考虑到有限集模型预测控制(Finite Control Set Model Predictive Control, FCS-MPC)可根据过去信息和未来时刻的输入量预测下一时刻的输出响应，从而提高系统响应，提升启动速率。为此，本文对永磁同步电机有限集模型预测控制展开了研究，通过引入灰色预测和模糊控制理论，提出了下述两种控制方案。

首先，本文设计了双闭环FCS-MPC系统，在消除了转速超调的基础上，为进一步提高系统的动态性能，充分利用历史数据快速适应给定值的变化，引入了灰色预测，针对电流内环的不确定性部分建立灰色模型，提出了基于灰色预测的双闭环FCS-MPC方案。电流内环采用灰色预测与FCS-MPC相结合的方式，并利用MPC算法设计速度外环控制器，使控制系统中的灰色量达到一定程度的白化，从而提高电流控制的动态性能。

其次，为解决电流内环中代价函数的固定权重因子难以同时满足动态和稳态性能的问题，本文利用模糊条件语句及算法设计了模糊控制器，提出了基于模糊动态权重因子的双闭环FCS-MPC方案，将调节后的动态权重因子引入代价函数中，实现了多目标权重因子的动态最优化分配。

最后，为验证所提控制方案的有效性，利用Matlab/Simulink软件搭建仿真模型，获取仿真结果；并搭建实验平台，结合CCS5.5软件完成对永磁同步电机有限集模型预测控制研究的调试实验，结果表明本文提出的两种控制方案使系统的动态响应和抗干扰性能均得到了提高。

Permanent Magnet Synchronous Motor (PMSM) is widely used in various fields due to its high efficiency, high power density and good stability. Although PMSM has obvious advantages, it also suffers from poor startup performance. Considering that finite control set model predictive control (FCS-MPC) can predict the output response at the next time according to the past information and the input quantity at the future time, thus improving the system response and the startup rate. In this paper, the finite set model predictive control of permanent magnet synchronous motor is studied, and the following two control schemes are proposed by introducing grey prediction and fuzzy control theory.

Firstly, this paper designed the dual closed loop FCS-MPC system, on the basis of eliminates the speed overshoot, to further improve the dynamic performance of system, make full use of historical data quickly adapt to the change of the given value, the introduction of the grey prediction, in view of the uncertainty of current inner part of the grey model is set up, and put forward the dual closed loop FCS-MPC scheme based on grey prediction. The current inner loop adopts the combination of grey prediction and FCS-MPC, and the MPC algorithm is used to design the speed outer loop controller, so that the grey quantity in the control system can reach a certain degree of whitening, so as to improve the dynamic performance of current control.

Secondly, to solve the problem of the cost function of the inner ring of current fixed weighting factor is difficult to meet the dynamic and steady-state performance problems at the same time, in this paper, using the algorithm of fuzzy conditional statement and design the fuzzy controller, the dual loop is proposed based on fuzzy dynamic weighting factor FCS-MPC scheme, will be adjusted dynamic weighting factor is introduced into the cost function, The dynamic optimal allocation of multi-objective weight factors is realized.

Finally, in order to verify the effectiveness of the proposed control scheme, Matlab/Simulink software was used to build a simulation model and obtain the simulation results. The experimental platform was built, and the debugging experiment of PMSM finite set model predictive control was completed with CCS5.5 software. The results show that the dynamic response and anti-interference performance of the system are improved by the two control schemes proposed in this paper.

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