Model predictive position control of permanent magnet synchronous motor servo system with sliding mode observer

In order to improve the control accuracy and robustness of permanent magnet synchronous motor (PMSM) servo system, a new non-cascade predictive control strategy is proposed to replace the traditional three-closed-loop servo control in this paper. The design process is as follows. First, the state variables and a discrete-time state space model of motor are defined; meanwhile, the lumped term of disturbance is included in the motor model. Second, the optimal cost function is chosen to design the model predictive controller (MPC). Then, according to the uncertain parameters and external disturbance, the sliding mode observer (SMO) is introduced to estimate and compensate the disturbance. Finally, the comparative experimental result proves that the proposed predictive control method not only has less regulation parameters but also has high position tracking accuracy and strong anti-interference ability even under different conditions.