On Offset-Free Continuous Model Predictive Current Control of Permanent Magnet Synchronous Motors

In this work, an offset-free continuous control set model predictive current control (CCS-MPCC) strategy for synchronous machines based on a slack formulation of the Primal-Dual Interior-Point method is proposed. A horizon of two steps is achieved within 100 mu s sampling period. To account for robustness against model mismatch and uncertainty, an incremental formulation of the MPC problem is used to ensure zero steady-state tracking error. The proposed controller is compared with the state of the art Field Oriented Control with PI controllers (FOC-PI), with the Deadbeat Model Predictive Current Control (DB-MPCC), and with the latter controller combined with discrete integrators in the feedback loop (DB-MPCC-I). Experimental results on a 0.5 kW PMSM prove that the proposed CCS-MPCC has outperformed the state of the art control techniques typically used to control electrical machines. Copyright (C) 2020 The Authors.