Composite Model Predictive Single-Loop Control Considering Delays of PMSM Servo System

To enhance the performance of permanent magnet synchronous motor (PMSM) servo systems, this study proposes a single-loop model predictive control (MPC) strategy that incorporates disturbance rejection, state constraints, and system delay compensation. An extended state observer (ESO) is employed to estimate the lumped disturbances, with compensation for position feedback transmission delay. Additionally, the physical PWM updating delay is compensated by adjusting the prediction model of the MPC. An optimized control law is derived using receding horizon optimization and a quadratic programming algorithm. Experimental results validate the effectiveness and feasibility of the proposed method, demonstrating that compensating for system delays significantly improves dynamic response and speed bandwidth.