Research on High-Performance Explicit Model Predictive Control Algorithm for Permanent Magnet Synchronous Motors
Liu Zhongyong1,2, Fan Tao1,2, He Guolin2, Wen Xuhui1,2
1. University of Chinese Academy of Sciences Beijing 100049 China;
2. Institute of Electrical Engineering Chinese Academy of Sciences Beijing 100190 China
Since the 1970s, Model Predictive Control (MPC) algorithms have proven to be effective control strategies for multi-input and multi-output nonlinear dynamic systems with complex constraints. However, due to the significant computational demands associated with optimization problems, applying MPC to control objects with fast response time requirements, such as motor systems, presents challenges in achieving iterative solutions for constrained problems within short control cycles. This paper proposes a high-performance control strategy for permanent magnet synchronous motors based on the concept of Explicit Model Predictive Control (EMPC). The strategy involves the establishment of linearized models for current and speed control using multiparametric programming to eliminate coupling effects and nonlinear influences between states. The offline solution yields optimal control actions under effective constraint conditions, stored in the form of piecewise-affine functions. During operation, the corresponding optimal control actions are obtained by querying the partition containing the current state combination. The paper comprehensively analyzes issues such as model mismatch, digital delay, and dead-zone effects in EMPC applications and provides corresponding solutions. The proposed algorithm's efficacy is validated through a fully automated dyno test platform.
The paper introduces the theoretical foundations of multiparametric programming and presents a comprehensive design process for explicit model predictive control. It establishes linearized models for controlling current and speed in permanent magnet synchronous motors while linearizing voltage and current constraints. The effects of parameter mismatch, digital delay, and inverter nonlinearity on EMPC are analyzed, and respective compensatory measures are proposed. The EMPC problem definition and optimal control law are solved using the MPT3 toolbox, displaying critical partitions and optimal cost functions under different state combinations. The simulation verifies the algorithm's efficacy and the preceding analysis of various non-ideal factors. Experimental validation is conducted on a motor dyno test platform, comparing the performance of EMPC with a Proportional-Integral (PI) control algorithm. In the current control scenario, for a 30A current step command, the PI algorithm exhibits a response time of 0.1s, while the EMPC algorithm responds in 0.0014s. In speed control, for a 600r/min speed step command, the PI algorithm requires 1s to respond, whereas the EMPC algorithm responds in 0.3s. When subjected to load disturbances, the PI algorithm reaches steady-state after 0.5s, while the EMPC algorithm reaches steady-state after 0.1s. The experimental results demonstrate that EMPC effectively reduces coupling effects without overshooting due to each control action being the optimal solution under constraints, thereby exhibiting superior harmonic current suppression capabilities.
Based on the theoretical analysis and experimental results, the following conclusions are drawn:
1. EMPC algorithm incorporates models and various constraints into the control problem, encompassing all dynamic characteristics during the control process, guaranteeing linear stability, and achieving better dynamic performance compared to anti-saturation strategies, which may only be applicable to specific operating points and could lead to system instability.
2. Compared to PI control, the high bandwidth characteristic of the EMPC algorithm enables faster dynamic response and harmonic suppression. The design approach based on multivariable control eliminates the need to consider coupling effects between system states, while the optimal control action obtained through feasible region-solving meets global control requirements, eliminating the need for cumbersome tuning based on operating conditions.
刘忠永, 范涛, 何国林, 温旭辉. 高性能永磁同步电机显式模型预测控制算法研究[J]. 电工技术学报, 0, (): 9026-26.
Liu Zhongyong, Fan Tao, He Guolin, Wen Xuhui. Research on High-Performance Explicit Model Predictive Control Algorithm for Permanent Magnet Synchronous Motors. Transactions of China Electrotechnical Society, 0, (): 9026-26.
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