A Robust Predefined-Time Sliding Mode Predictive Control for SPMSM Speed Regulation Systems Using an Ultralocal Model
Long He, Fengxiang Wang, José Rodríguez, Marcelo Lobo Heldwein
Abstract
This article proposes an ultralocal predictive surface-mounted permanent magnet synchronous motor (SPMSM) model-based predefined time sliding mode predictive speed control (UL-SMPC) to achieve exceptional disturbance rejection and tracking performance in SPMSM systems. First, an ultralocal predictive SPMSM model is given, incorporating a time-varying disturbance term and an adaptive control gain. Second, the control gain and disturbance term of the SPMSM model are decoupled and identified, respectively. A control gain optimizer is devised to estimate the control gain, and a predefined time reaching law-based generalized proportional integral observer (PT-GPIO) is developed to estimate the disturbance for each control period. The parameter tuning principles for the control gain optimizer and PT-GPIO are analyzed. Third, a cost index is defined using the predefined time reaching law-based sliding mode surface. Finally, UL-SMPC is synthesized by minimizing the cost index. Experimental results verify the outstanding robustness and tracking performances of the proposed method.