Model Predictive Current Control for IPMSM Drives With Extended-State-Observer-Based Sliding Mode Speed Controller

Abstract

Aiming at the characteristics that the classical proportional-integral (PI) controllers and the model predictive current control (MPCC) is extremely dependent on the motor parameters, and PI controllers are sensitive to the changes of the load torque, a novel extended-state-observer-based sliding mode speed control (ESO-SMSC) scheme and an extended-state-observer-based MPCC (ESO-MPCC) scheme are proposed to improve the speed and current tracking performance of the interior permanent magnet synchronous motor (IPMSM) under the disturbances of the internal parameter mismatch and the external load change. Firstly, the reaching law of the SMSC will be redesigned, and an ESO is designed to estimate the total disturbance to update the control law of the SMSC in real-time. Secondly, the stability of the closed-loop IPMSM drive system with the ESO-SMSC is proved by the Lyapunov theory. Thirdly, in the prediction part of the MPCC, another ESO real-time estimation of total disturbance is designed to compensate for the disturbance, which improves the strong robustness of the MPCC to the disturbance caused by parameter mismatch. Finally, experimental comparisons of the ESO-SMSC scheme, the ESO-MPCC scheme, and the ESO-SMSC+ESO-MPCC scheme are compared experimentally. The analysis and results show that the ESO-SMSC+ESO-MPCC scheme has good speed response and current characteristics, which proves the superiority of the proposed scheme for disturbance rejection.