Explicit Model Predictive Control of PMSM Drives

This paper deals with the explicit model predictive control (MPC) algorithms for permanent magnet synchronous motors (PMSM). The algorithms generate continuous and smooth set of pre-computed control laws represented by parameterized gains. The selection and application of the gains in real motion control of PMSM is explained. The MPC design introduces cost functions and control laws that define explicit algorithms. For this purpose, a unified state-space model of PMSM is proposed. In the paper, practical aspects of considered explicit MPC algorithms are investigated for control systems with floating-point arithmetic and usual incremental position sensors with quantized values. The proposed solution is demonstrated by real experiments with 95 W PMSM controlled by Field-Programmable Gate Array (FPGA) unit.