Abstract：For the predictive control strategy of the permanent magnet synchronous motor position servo system, both model predictive direct speed control (MPDSC) and deadbeat predictive speed control (DPSC) depend on an accurate control system model. However, in practical applications, the motor parameters are changing and challenging to measure, which makes the control performance worse. Moreover, the nonlinearity of the inverter will also affect the prediction accuracy and reduce the performance of the control system. Recently, some methods have been proposed to solve the issues of parameter inaccuracy, but most are computationally expensive and hard to implement in practice. This paper proposes a robust deadbeat predictive speed control (R-DPSC) strategy to improve the control performance of the permanent magnet synchronous motor position servo system by incorporating the deadbeat control and the disturbance observer. Firstly, according to the mathematical model of PMSM in the synchronous coordinate frame and the deadbeat control principle, the current and speed loops are designed for the servo drive. A proportional controller is used to design the position loop. Then, according to the discrete-state model of the motor, the reference voltages are predicted and converted into the switching signals of the inverter by space vector pulse-width modulation (SVPWM). In this paper, the incremental model is adopted to predict the current without the permanent-magnet flux value, and an extended state observer (ESO) is designed with the incremental model to estimate and compensate for the prediction errors caused by inaccurate parameters and load disturbance. The R-DPSC strategy combined with ESO can accurately track the desired position in the case of inaccurate parameters and external disturbance in load. In order to reduce the oscillation caused by the observer when the system approaches the given position reference, a prediction error compensation method is proposed, which uses different compensation quantities according to different working states of the system. The R-DPSC strategy with prediction error compensation method (PR-DPSC) can improve the robustness of the system and maintain the good dynamic performance of the DPSC strategy. Thus, the system can achieve better position-tracking performance. The experimental results show that when the control parameters and the load torque settings do not match the actual values, the position tracking error is eliminated by the R-DPSC strategy. After adopting the PR-DPSC strategy, the position tracking error can be eliminated, and the oscillation phenomenon disappears when the actual position is close to the given position. Furthermore, the time for the system to reach the given position is reduced. Under the same experimental conditions, comparative experiments were carried out for different control schemes, which proved that the PR-DPSC strategy has faster position tracking speed and better anti-disturbance performance. The research conclusions are as follows: (1) The proposed DPSC strategy improves the dynamic response of the system, enabling the system to reach a given position faster; (2) The designed ESO can observe the disturbance caused by parameter mismatch, load, and inverter nonlinearity. The proposed compensation strategy eliminates the oscillation phenomenon when the system reaches a given position, and the control accuracy and dynamic performance are improved.
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2023, Vol. 38 
