A model predictive control scheme with torque ripple mitigation for permanent magnet motors

Mariéthoz, Sébastien; Domahidi, Alexander; Morari, Manfred

doi:10.1109/iecon.2009.5415385

Cited by 10 publications

(4 citation statements)

References 20 publications

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“…[34] and [36], the authors present a multilevel six phase predictive controller where the number of inputs are reduced from 64 to the largest 12 vectors and a single zero vector in order to make the control law computationally fea sible. Other approaches for addressing this issue have been recently proposed including those that use explicitly solved offline controllers [32,37] branch and bound search methods for discard ing suboptimal sequences [19] and those that impose limits on the number of transistors that are allowed to switch during each state transition [30]. In this paper, we extend our previous develop ments of a control Lyapunov (CLF) based approach that incorpo rates stability information in the input selection process [38].…”

Section: Introductionmentioning

confidence: 93%

“…The resulting con trol method, sometimes referred to as finite control set MPC (FCS-MPC), has recently lead to numerous efforts from within the DTC community mostly aimed at reducing switching fre quency [27][28][29][30][31] though other improvements have been achieved including the reduction of torque ripple [32][33][34], balancing capac itor voltages in multilevel inverters [20,28] and the inclusion of a modulator within the FCS-MPC framework to achieve a fixed switching frequency [35], While the adoption of FCS-MPC has greatly facilitated the use of predictive control techniques to power electronic systems, even the relatively small numbers of realizable actuator inputs can still present computational challenges when input sequences are eval uated over very small control periods. This has led some research ers to reduce the number of inputs considered in the optimization process.…”

Section: Introductionmentioning

confidence: 99%

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A Control Lyapunov Approach to Finite Control Set Model Predictive Control for Permanent Magnet Synchronous Motors

Prior

Krstić

2014

Journal of Dynamic Systems, Measurement, and Control

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In this paper, we present a novel model predictive control (MPC) scheme that incorpo rates stability information derived from a control Lyapunov function (CLF) to dynami cally prune suboptimal sequences from the search space and decrease the computational burden placed on the controller. The CLF used for pruning is then incorporated into a cost function that penalizes energy in the error system as well as energy loss due to switching. Despite the very small control periods allowed due dynamic pruning, experi mental results are given, showing the resulting controller generates low switching frequencies and low total harmonic distortion.

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Section: Introductionmentioning

confidence: 93%

Section: Introductionmentioning

confidence: 99%

A Control Lyapunov Approach to Finite Control Set Model Predictive Control for Permanent Magnet Synchronous Motors

Prior

Krstić

2014

Journal of Dynamic Systems, Measurement, and Control

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“…5. It has been demonstrated that the PR controller implemented in stationary reference frame is the same as of PI regulators in rotating frame, these parameters can be tuned with the ‘technical optimum’ approach [16] using zero to cancel the pole as

K_{Pi} = \frac{L_{q}}{4 ξ^{2} T_{d}}, K_{i i} = \frac{K_{Pi} R}{L_{q}}, K_{R i} = K_{i i}

where,

T_{d} = 1.5 T_{s}

ξ = 0.8

.…”

Section: Controller Designmentioning

confidence: 99%

Torque ripple minimisation of permanent magnet synchronous motor using a new proportional resonant controller

Gao

Huang

et al. 2017

IET Power Electronics

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When applying the permanent magnetic synchronous motors (PMSM) to refrigerant system, the suppression of speed ripples of the PMSM in low-feed range becomes the focus of consideration. The authors start with the generation mechanism and the periodical characteristics of the speed ripples to propose an adaptive control method. In the proposed method, the authors place a frequency variable resonance controller in parallel with the conditional proportion and integral (PI) controller to form a PI-resonance (PI-RES) controller. The compensation torque current generated by the resonance controller and the main reference current generated by the PI controller constitute the reference torque current. Because of the existence of the compensation torque current, the electromagnetic torque can follow the variation of the load torque much better, thus the speed ripples are suppressed. Performance indices of the conventional PI controller and the PI-RES controller are compared and evaluated through experimental investigations. The results validate the effectiveness of the proposed method.

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“…A theoretical analysis of the offset-free properties of such an augmentation, within the MPC framework was performed [20]. An EMPC design for a current loop with estimation of the disturbances using the recursive least squares method fed forward for compensation was discussed [21]. An EMPC speed controller for an induction machine was designed considering load disturbance as an additional state variable, and a Kalman filter was applied to correct the predicted state variables to reject the disturbance [22].…”

Section: Introductionmentioning

confidence: 99%

Robust Current Controller for IPMSM Drives Based on Explicit Model Predictive Control With Online Disturbance Observer

Jia

Wang

Liang³

et al. 2019

IEEE Access

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To improve the performance of a current loop, this paper presents a novel current control scheme for an interior permanent magnet synchronous motor (IPMSM) based on the model predictive control (MPC) algorithm in a synchronous rotating frame (dq-frame). The recently developed explicit MPC (EMPC) is introduced to ensure the feasibility of real-time implementation in the control hardware. To achieve feasible reformulation of the current control problem using EMPC, a coupled nonlinear IPMSM mathematical model is linearized using an augmented model with disturbance. Furthermore, to approximate the related quadratic stator current and voltage constraints in the dq-frame, they are also transformed into a series of linear inequalities. We propose an improved disturbance observer based on the augmented model, in conjunction with the concept of offset-free MPC, to estimate both the disturbance terms and the state variables from the predicted and measured outputs. All the influences of plant/model mismatches and un-modeled nonlinear terms are removed by the estimated total disturbance within the closed-loop framework of EMPC. The proposed EMPC scheme not only improves both the dynamic performance and the steady-state precision of the current loop, but it also exhibits robustness against parameter uncertainties. The proposed method has been proven and verified successfully in both simulation and experiment. INDEX TERMS Interior permanent magnet synchronous motor (IPMSM), current control, model predictive control (MPC), explicit solution, disturbance observer.

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A model predictive control scheme with torque ripple mitigation for permanent magnet motors

Cited by 10 publications

References 20 publications

A Control Lyapunov Approach to Finite Control Set Model Predictive Control for Permanent Magnet Synchronous Motors

A Control Lyapunov Approach to Finite Control Set Model Predictive Control for Permanent Magnet Synchronous Motors

Torque ripple minimisation of permanent magnet synchronous motor using a new proportional resonant controller

Robust Current Controller for IPMSM Drives Based on Explicit Model Predictive Control With Online Disturbance Observer

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