Constrained time-optimal control of PMSM with continuous control domain

As has been shown by many recent papers, the concept of model predictive control (MPC) is suitable for applications in electrical drive control which exhibits nonlinear model dynamics with hard constraints. In case of large-scale optimization the MPC may be time-consuming, which is unfeasible for real applications. The usual way to reduce the computational costs is to discretize the control domain, which is very restrictive. This paper presents a novel approach to time-optimal control of permanent magnet synchronous motor (PMSM). The approach exploits similarity of the PMSM model and a double-integrator model and consider continuous control domain. The designed approach is tested by both simulation and real experiments.