Generalised predictive control (GPC) is known for its good dynamic performance and long prediction horizon, but the performance can be severely deteriorated when measurement noises exist due to the wide control bandwidth of GPC. Meanwhile, the unmodelled periodic disturbances can cause ripples to the output variables. In this study, a practical permanent magnet synchronous motor (PMSM) drive system with speed measurement noise and periodic disturbances is considered, for which a novel multivariable GPC method is proposed to achieve both good dynamic performance and speed ripple mitigation. The proposed method has a simple structure, since the traditional cascaded speed and current control loops are replaced by a non-cascaded one. To reject the measurement noise without jeopardising the system stability, an internal low-pass filter is embedded in the GPC. Meanwhile, external resonant loops are added to the GPC to mitigate the low-order speed ripples caused by the periodic disturbances. Furthermore, a deadbeat-based current constraint method is proposed to avoid overcurrent during transient processes. Theoretical stability analysis of the proposed method is presented. Experimental results show that the proposed method has good steady-state and dynamic performances, including measurement noise rejection and speed ripple mitigation.

中文翻译：

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具有PMSM驱动器测量噪声抑制和速度纹波抑制功能的多变量广义预测控制

通用预测控制（GPC）以其良好的动态性能和较长的预测范围而著称，但由于GPC的宽控制带宽，当存在测量噪声时，性能可能会严重下降。同时，未建模的周期性干扰会导致输出变量产生波动。在这项研究中，考虑了一种具有速度测量噪声和周期性干扰的实用永磁同步电动机（PMSM）驱动系统，为此，提出了一种新颖的多变量GPC方法，以实现良好的动态性能和速度脉动缓解。所提出的方法具有简单的结构，因为传统的级联速度和电流控制回路被非级联的回路所代替。为了在不损害系统稳定性的情况下拒绝测量噪声，内部低通滤波器嵌入在GPC中。同时，将外部谐振环路添加到GPC，以减轻由周期性干扰引起的低阶速度波动。此外，提出了一种基于无差拍的电流约束方法来避免瞬态过程中的过电流。提出了该方法的理论稳定性分析。实验结果表明，该方法具有良好的稳态和动态性能，包括测量噪声抑制和速度纹波抑制。