Robust Model Predictive Current Control of Permanent Magnet Synchronous Motor With Moving Horizon Estimator

The variation of motor parameters during motor operation has a significant impact on model predictive control (MPC), a model-based control strategy. In order to reduce the effects of parameter mismatch and external disturbances on motor control, this paper proposes a robust model predictive current control method with moving horizon estimator (MHE). The method utilizes MHE to form a disturbance observer, consolidating the effects of parameter mismatch and other unknown disturbances into a single estimation term. The estimated disturbance is then fed into the model predictive current controller for current prediction and optimal voltage calculation. Meanwhile, an incremental model of the motor is adopted in the model predictive current controller, to eliminate the effect of the rotor magnetic flux. The simulation results indicate that the proposed method practically eliminates the steady-state error caused by parameter mismatch and effectively enhances the robustness of current control.