Abstract
Deadbeat predictive current control (DBPCC) has the characteristic of fast current response, but it is sensitive to motor parameters. Observer-based DBPCC can eliminate the steady state current tracking error when parameter mismatch exists. However, the actual current will deviate from the reference current during transient state in the case of inductance mismatch. In this paper, a fast response robust deadbeat predictive current control (FRRDBPCC) method is proposed for surface mounted permanent magnet synchronous motor (SPMSM). Firstly, the current tracking error caused by inductance mismatch during transient state is analyzed in detail. Then, an extended state observer (ESO) is proposed to estimate the lumped disturbance caused by parameter mismatch. Based on discrete time ESO, the predicted currents are used to replace the sampled currents to compensate for one-step delay caused by calculation and sampling. Furthermore, an online inductance identification algorithm and a modified prediction model are proposed. The dq-axis currents can be completely decoupled by updating the inductance in the modified prediction model online, ensuring that the current can track the reference value in two control periods. The proposed method improves robustness against parameter mismatch and guarantees dynamic response performance simultaneously. The experimental results verify the effectiveness of the proposed method.
Highlights
Due to the brilliant advantages of having a high efficiency, high power density, wide speed range and compact structure, permanent magnet synchronous motors (PMSM) have been widely used in industrial applications, such as electrical vehicles and high precision servo systems
Since the field-oriented control (FOC) method was invented, it has become one of the most popular control methods applied in PMSM [1]
In order to further improve the control performance, some other algorithms, such as sliding mode controller [3], adaptive repetitive learning controller [4] and internal model controller [5] have been applied in PMSM control systems
Summary
Due to the brilliant advantages of having a high efficiency, high power density, wide speed range and compact structure, permanent magnet synchronous motors (PMSM) have been widely used in industrial applications, such as electrical vehicles and high precision servo systems. For the sake of achieving better control performance and improving the robustness of the DBPCC control system, some methods have been put forward, among which the strategy on the basis of disturbance suppression has been proved to be the most effective [19]. In [20], a discrete Luenberger observer is designed to predict the future value of stator current and estimate the disturbance caused by unmodeled dynamics and parameter variations. By applying the mentioned observer-based DBPCC methods, the steady state performance can be significantly improved and the current tracking error can be completely eliminated. In order to achieve better current tracking performance, many observer-based methods have been proposed, which can be expressed by Equation (5) [14]. Where L0 is the controller gain in dq-axis which equals the nominal value of inductance, Fd and Fq represent the lumped disturbance which can be extracted by different observers. ηd and ηq are the derivatives of Fd and Fq, respectively
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