Explicit Model Predictive Speed Control for Permanent Magnet Synchronous Motor With Torque Ripple Minimization

Permanent Magnet Synchronous Motors (PMSMs) are employed in various high-precision industrial applications. However, the torque ripple caused by nonideal factors, such as cogging torque, flux harmonics, and unbalanced stator phase currents diminishes motor performance. Therefore, torque ripple minimization is an important key in designing high-performance controllers for PMSMs. In this paper, an explicit model predictive speed control (EMPSC) is proposed as an advanced strategy for torque ripple minimization. First, the torque ripple is modeled as a periodic disturbance in the speed model. Subsequently, a Lyapunov-based periodic disturbance observer (PDOB) is designed to fast and accurately estimate the torque ripple. The EMPSC updates the estimated disturbance into the prediction model and minimizes the cost function to obtain the optimal control signal. This control signal effectively mitigates torque ripple while enhancing dynamic response performance. Furthermore, this paper introduces an explicit process aimed at significantly reducing the complexity and computational effort of the entire control scheme. Lastly, the simulation and experimental results are presented to demonstrate the effectiveness of the proposed method.