Single-loop Robust Control of Permanent Magnet Synchronous Motors Based on Generalized Predictive Control

Abstract

To improve the dynamic performance and robustness of the control system of permanent magnet synchronous motors (PMSMs) for unmanned undersea vehicles (UUVs) and simplify the structure of the control system, a single-loop control strategy based on generalized predictive control (GPC) is proposed. A novel objective function is optimized to design a single-loop speed-current PMSM controller based on the continuous-time PMSM model. Furthermore, a current-limiting strategy is employed to avoid any damage to the motor and inverter controller caused by extremely high currents. The controller has a simple structure. Further, robust PMSM control can be realized by only adjusting the prediction time domain; this is easy to implement in engineering applications. Simulation results show that the control strategy can effectively suppress the influence of external disturbance and internal parameter perturbation, thus realizing a fast dynamic response and strong robustness of the PMSM for UUVs.

Keywords

• unmanned undersea vehicle
• permanent magnet synchronous motor
• generalized predictive control
• robust control