MPC Implementation of a Quasi-Time-Optimal Speed Control for a PMSM Drive, With Inner Modulated-FS-MPC Torque Control

In this paper, model-predictive control is used as a framework for implementing a quasi-time-optimal speed controller for a permanent-magnet synchronous motor. The scheme consists of an inner predictive torque control, which makes use of the full actuation range provided by a two-level voltage source inverter, although with the use of pulsewidth modulation. An outer speed controller, based on classical results for the time-optimal control of the double integrator, constitutes a good example application of the proposed torque controller. The overall scheme achieves both fast transient dynamics (as fast as the physics of the system and the control constraints allow) and acceptable steady-state performance.