Predictive Control for Permanent Magnet Synchronous Motor Based on IMC Observer

doi:10.16182/j.issn1004731x.joss.17-0072

Abstract

Abstract: Predictive control strategy is applied to permanent magnet synchronous motor control system, it can achieve fast dynamic response and high-precision tracking control, but depending on the mathematical model of the motor, the load disturbance will affect the control performance of system. A new control method combining an observer based on internal model control (IMC) and predictive control was presented. The inner-loop current controller and the outer-loop speed controller based separately on model predictive control algorithm and deadbeat current predictive control algorithm were designed to form dual-loop predictive control system. An IMC observer is designed to estimate the load disturbance, and torque-current compensation is produced as feedforward of speed loop to attenuate the disturbance. The simulation results show that the proposed method can improve the dynamic response performance and steady-state precision of the control system, and the robustness is greatly enhanced.

Key words: permanent magnet synchronous motor, model predictive control, deadbeat predictive control, internal model control, observer

CLC Number:

TP273

Ren Zhiling, Zhang Zhongbao, Hou Limin, Zhang Guangquan, Lin Dong, Zhao Xing. Predictive Control for Permanent Magnet Synchronous Motor Based on IMC Observer[J]. Journal of System Simulation, 2019, 31(1): 94-101.

References

[1] Mynar Z, Vesely L, Vaclavek P.PMSM Model Predictive Control With Field-Weakening Implementation[J]. IEEE Transactions on Industrial Electronics (S0278-0046), 2016, 63(8): 5156-5166.
[2] 赵志诚, 桑海, 张井岗. 永磁同步电机速度伺服系统的分数阶内模控制[J]. 系统仿真学报, 2015, 27(2): 384-388.
Zhao Zhicheng, Sang Hai, Zhang Jinggang.Fractional Order Internal Model Control of PMSM Speed Servo System[J]. Journal of System Simulation, 2015, 27(2): 384-388.
[3] Liu G H, Chen L L, Zhao W X, et al.Internal Model Control of Permanent Magnet Synchronous Motor Using Support Vector Machine Generalized Inverse[J]. IEEE Transactions on Industrial Informatics (S1551-3203), 2013, 9(2): 890-898.
[4] 侯利民, 王怀震, 李勇, 等. 级联式滑模观测器的永磁同步电机鲁棒滑模控制[J]. 控制与决策, 2016, 31(11): 2071-2076.
Hou Limin, Wang Huaizhen, Li Yong, et al.Robust Sliding Mode Control of PMSM Based on Cascaded Sliding Mode Observers[J]. Control and Decision, 2016, 31(11): 2071-2076.
[5] Lindscheid C, Haßkerl D, Meyer A, et al.Parallelization of Modes of the Multi-Level Iteration Scheme for Nonlinear Model-Predictive Control of an Industrial Process[C]// 2016 IEEE Conference on Control Applications (CCA), Buenos Aires, Argentina: IEEE, 2016: 1506-1512.
[6] 邱忠才, 肖建, 郭冀岭, 等. 永磁同步电机速度预测电流解耦控制[J]. 电子测量与仪器学报, 2015, 29(5): 648-654.
Qiu Zhongcai, Xiao Jian, Guo Jiling, et al.PMSM Control System Based on Speed Predictive Controller and Current Decouple Controller[J]. Journal of Electronic Measurement and Instrumentation, 2015, 29(5): 648-654.
[7] 孔小兵, 刘向杰. 永磁同步电机高效非线性模型预测控制[J]. 自动化学报, 2014, 40(9): 1958-1966.
Kong Xiaobing, Liu Xiangjie.Efficient Nonlinear Model Predictive Control for Permanent Magnet Synchronous Motor[J]. ACTA AUTOMATICA SINICA, 2014, 40(9): 1958-1966.
[8] Preindl M, Bolognani S.Model Predictive Direct Speed Control with Finite Control Set of PMSM Drive Systems[J]. IEEE Transactions on Power Electronics (S0885-8993), 2013, 28(2): 1007-1015.
[9] 王东文, 李崇坚, 吴尧, 等. 永磁同步电机的模型预测电流控制器研究[J]. 电工技术学报, 2014, 29(1): 73-79.
Wang Dongwen, Li Chongjian, Wu Yao, et al.Model Predictive Current Control Scheme for Permanent Magnet Synchronous Motors[J]. Transactions of China Electrotechnical Society, 2014, 29(1): 73-79.
[10] 王庚, 杨明, 牛里, 等. 永磁同步电机电流预测控制电流静差消除算法[J]. 中国电机工程学报, 2015, 35(10): 2544-2551.
Wang Geng, Yang Ming, Niu Li, et al.A Static Current Error Elimination Algorithm for PMSM Predictive Current Control[J]. Proceedings of the CSEE, 2015, 35(10): 2544-2551.
[11] 牛里, 杨明, 王庚, 等. 基于无差拍控制的永磁同步电机鲁棒电流控制算法研究[J]. 中国电机工程学报, 2013, 33(15): 78-85.
Niu Li, Yang Ming, Wang Geng, et al.Research on the Robust Current Control Algorithm of Permanent Magnet Synchronous Motor Based on Deadbeat Control Principle[J]. Proceedings of the CSEE, 2013, 33(15): 78-85.
[12] Liu H X, Li S H.Speed Control for PMSM Servo System Using Predictive Functional Control and Extended State Observer[J]. IEEE Transactions on Industrial Electronics (S0278-0046), 2012, 59(2): 1171-1183.
[13] 刘旭东, 李珂, 孙静, 等. 基于广义预测控制和扩展状态观测器的永磁同步电机控制[J]. 控制理论与应用, 2015, 32(12): 1613-1619.
Liu Xudong, Li Ke, Sun Jing, et al.Generalized Predictive Control Based on Extended State Observer for Permanent Magnet Synchronous Motor System[J]. Control Theory & Applications, 2015, 32(12): 1613-1619.
[14] 邓永停, 李洪文, 王建立, 等. 基于预测函数控制和扰动观测器的永磁同步电机速度控制[J]. 光学精密工程, 2014, 22(6): 1598-1605.
Deng Yongting, Li Hongwen, Wang Jianli, et al.Speed Control for PMSM Based on Predictive Functional Control and Disturbance Observer[J]. Optics and Precision Engineering, 2014, 22(6): 1598-1605.
[15] 黄宴委, 熊少华. 基于内模控制的永磁同步电机电流环观测器设计[J]. 中国电机工程学报, 2016, 36(11): 3070-3075.
Huang Yanwei, Xiong Shaohua.An Internal Model Control-Based Observer for Current Loops in Permanent Magnet Synchronous Motor[J]. Proceedings of the CSEE, 2016, 36(11): 3070-3075.
[16] Morel F, Lin-Shi X F, Rétif J M, et al. A Comparative Study of Predictive Current Control Schemes for a Permanent-Magnet Synchronous Machine Drive[J]. IEEE Transactions on Industrial Electronics (S0278-0046),. 2009, 56(7): 2715-2728.
[17] Zhang H W, Lewis F L, Das A.Optimal Design for Synchronization of Cooperative Systems: State Feedback, Observer and Output Feedback[J]. IEEE Transactions on Automatic Control (S0018-9286), 2011, 56(8): 1948-1952.