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| Robust Resonant Predictive Current Control Based on Generalized Proportional Integral Observer for Permanent Magnet Synchronous Motor |
| Yang Fan1,2,3, Zhao Ximei1, Jin Hongyan1, Wang Xiaodong1, Liu Xiaoyuan2,3 |
1. School of Electrical Engineering Shenyang University of Technology Shenyang 110870 China;
2. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China;
3. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China |
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Abstract To improve the control performance of a permanent magnet synchronous motor (PMSM), deadbeat predictive current control (DPCC) is adopted for the inner current loop due to its small current ripple and fast dynamic response. However, DPCC is highly dependent on accurate PMSM parameters, and any mismatch may lead to steady-state current errors and system instability. In practical PMSM operation, parameter mismatch is inevitable due to factors such as temperature drift and magnetic saturation. In addition, inverter dead time introduces periodic voltage disturbance, resulting in current distortion and torque ripple, which deteriorates the performance of the PMSM system. Therefore, this paper proposes a robust resonant predictive current control (RRPCC) strategy based on the generalized proportional integral (GPI) observer to mitigate the adverse impacts of parameter mismatch and inverter dead-time effect.
Firstly, the non-periodic disturbance generated by parameter mismatch and the periodic disturbance induced by the dead-time effect are analyzed. A precise mathematical model of the PMSM is established considering both disturbances. Secondly, based on the internal mode principle, a resonant polynomial is incorporated into the current prediction model at the same frequency as the periodic disturbance. The resonant predictive current controller is designed to reject periodic sinusoidal disturbance and achieve smooth current output. Finally, to eliminate non-periodic disturbance, a GPI observer is added to the current controller to estimate and compensate for lumped disturbances induced by parameter mismatch. The stability analysis of the GPI observer in the discrete-time domain is given.
The effectiveness of the proposed method is verified by experiments. The speed reference is set to 800 r/min (ωe=335 rad/s) in the periodic disturbance test. Apparent d-q axis current pulsations occur with 2 010 rad/s in the conventional DPCC. The pulsation amplitude of iq and id is 0.9 A and 0.7 A, respectively. The FFT analysis shows that 6th current harmonics are significant in the d-q axis. The RRPCC method effectively suppresses 6th harmonics. The pulsation amplitude of iq and id is reduced to 0.3 A and 0.2 A, respectively. In the flux-linkage mismatch test, the flux-linkage is changed in step from 50% to 200% of the nominal value. The flux-linkage variation in the conventional DPCC causes an obvious steady-state current error with 0.9 A in the q-axis. The flux-linkage is maintained at 2ψf, and the speed increases from 400 r/min to 1 600 r/min. When the conventional DPCC is adopted, the q-axis current oscillates during the current dynamic process. The current tracking error increases to 1.5 A at 1 600 r/min in the steady state. The proposed RRPCC maintains the d-q axis current stable and smooth, exhibiting good current tracking performance. In the inductance mismatch test, the inductance step changes from 50% to 200% of the nominal value. In the conventional DPCC, current ripples are severely increased with the amplitudes of 1.1 A and 1.6 A in the d-q axis. The current quality of the proposed RRPCC is not affected by maintaining current ripples at 0.5 A and 0.4 A.
The following conclusions can be drawn from the experimental analysis: (1) The dead-time effect generates periodic sinusoidal disturbances. Compared with the conventional DPCC, the resonant predictive current controller is established in RRPCC, which can reject the periodic disturbance. (2) Steady-state current errors induced by PMSM parameter mismatch are compensated by the GPI observer in RRPCC, enhancing system robustness. (3) The proposed RRPCC exhibits good disturbance rejection ability and current tracking performance in the presence of non-periodic and periodic disturbances.
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Received: 21 March 2023
Published: 07 June 2024
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2024, Vol. 39 
