Safety-Critical Generalized Predictive Control for Speed Regulation of PMSM Drives Based on Dynamic Robust Control Barrier Function
Zhongkun Cao, Jianliang Mao, Chuanlin Zhang, Chenggang Cui, Jun Yang
Abstract
The speed regulation of a permanent magnet synchronous motor (PMSM) with a noncascade structure involves interactions between safety constraints and control performance, leading to potential conflicts among control objectives. As a means of addressing this issue, this article develops a novel safety-critical generalized predictive control (SCGPC) approach for PMSM drives. Differing from the existing generalized predictive control (GPC) scheme, this approach explicitly considers the current and voltage constraints by integrating with a control barrier function (CBF). Furthermore, a disturbance observer-based dynamic robust CBF (RCBF) is investigated, which provides a consistently stringent current safety guarantee for the PMSM system subject to disturbances. Meanwhile, the explicit form of the speed synthesis controller based on the proposed method is explored to avoid the online solving of quadratic programming (QP) problems, which significantly facilitates engineering implementations. Finally, simulations and experiments validate the efficacy and superiority of the proposed methodology in comparison with the existing related results.