Cooperative Control for Dual Permanent Magnet Motor System with Unified Nonlinear Predictive Control

Abstract

In order to improve the position tracking precision of dual permanent magnet synchronous motor (PMSM) systems, a unified nonlinear predictive control (UNPC) strategy based on the unified modeling of two PMSM systems is proposed in this paper. Firstly, establishing a unified nonlinear model of the dual-PMSM system, which contains uncertain disturbances caused by parameters mismatch and external load changes. Then, the position contour error and tracking errors are regarded as the performance index inserted into the cost function, and the single-loop controller is obtained by optimizing the cost function. Meanwhile, the nonlinear disturbance observer is designed to estimate the uncertain disturbances, which is used for feed-forward compensation control. Finally, the proposed strategy is experimentally validated on two 2.3 kW permanent magnet synchronous motors, and the experimental results show that effectiveness and feasibility of proposed strategy.

Keywords

• permanent magnet synchronous motor
• position control
• unified nonlinear predictive control
• high-precision cooperative control