Improved robust model predictive control for PMSM using backstepping control and incorporating integral action with experimental validation

Abstract

The DC motor is being rapidly replaced in the industry by the permanent magnet synchronous motor (PMSM), which has a number of benefits over it. Nonlinear equations are used to describe the dynamics of the PMSM. It is susceptible to unidentified external disturbances (load), and its properties change over time. These constraints make it more difficult to exercise control. To overcome the non-linearities and the aforementioned shortcomings, non-linear controls are necessary. This manuscript refers to the development of a sturdy high-caliber position tracking controller that incorporates integral action for PMSM. A predictive control law for the speed loop is established, combined with the backstepping control law for the inner loop. The overall strategy can be divided into two distinct elements. The initial stage involves the derivation of a reference electromagnetic torque computed through the generalized non-linear predictive control method. Subsequently, the controller law is formulated utilizing the robust backstepping control technique. One of the cardinal merits of this method lies in its exemption from the requirement of measuring and observing the external disturbances and parametric uncertainties. The efficacy of this cutting-edge control approach is rigorously evaluated in simulation with MATLAB/Simulink environment and experimentally using OPAL-RT, under diverse operating conditions. The findings demonstrate steadfast resilience amidst external disruptions and adjustments to parameters, while ensuring swift convergence, a testament to its robustness and reliability.