Model Predictive Control for a Permanent Magnet Synchronous Motor Subject to Actuation Fault

Driven by the demand for greater energy efficiency and compact design, Permanent Magnet Synchronous Motors (PMSMs) have seen increasing adoption, gradually supplanting induction motors in applications like electric vehicles and household appliances. This paper investigates the constrained optimal control of the d-axis current and speed of a PMSM under the influence of external disturbances induced by load torque and scaling actuation faults in the d-q control voltages. To address this challenge, a fault-tolerant delta input form model predictive control (MPC) strategy is developed, which computes the input increment and compensates for the effects of uncertainty through the use of an observer that estimates the state and input vectors online. The proposed control scheme requires no modification to the standard MPC formulation based on the delta input form, except that the variables used to initialize the constrained optimal control problem are derived from the estimated state and input vectors. The performance of the control scheme is demonstrated through extensive simulations, which show its superiority over the conventional MPC strategy.