Active Disturbance Rejection Explicit Model Predictive Direct Speed Control for Permanent Magnet Synchronous Motors

In the explicit model predictive direct speed (EM-PDS) control of the permanent magnet synchronous motor (PMSM), unknown disturbances caused by parameter variations and model mismatches can result in significant speed errors. To solve this problem, this paper proposes an active disturbance explicit model predictive direct speed (ADR-EMPDS) control method. First, a new PMSM linear model is designed, in which the nonlinear terms and the unknown disturbances are unified as lumped disturbances. Then, a new robust EMPDS optimal control law is obtained by designing three components: the linear robust prediction model, the cost function, and the linear system constraints. Subsequently, an extended state observer (ESO) is designed to observe the lumped disturbances in real time, and the observed lumped disturbances are fed into the robust EMPDS optimal control law. In addition, the stabilities of the designed ESO and ADR-EMPDS control system are demonstrated by analyzing whether the characteristic roots of the discrete-time system locate inside the unit circle. The proposed method improves the system’s robustness to parameter variations and model mismatches and achieves direct speed tracking for reference commands without steady-state errors. Finally, the experimental results verify the effectiveness and superiority of the proposed method.