Servo drives require high dynamics and reliability on speed control. Conventional cascade linear controllers suffer from the proportional-integral parameters tuning work and low dynamic response, due to their cascaded structure. In this paper, an improved model predictive direct speed control is proposed with rapid speed tracking and very small speed offset. The new control scheme eliminates the cascaded structure by predicting the future speed in discrete steps. The optimal voltage vector to control the motor is then selected according to an evaluation criterion for speed and flux tracking. To reduce the system cost and improve the reliability, a load torque observer is adopted to estimate the actual load torque. Besides, to avoid torque oscillations and overshoots during rapid speed variation, a torque suppression factor is incorporated into the cost function. Furthermore, a myopic prediction correction method is developed to enhance both the dynamic and steady-state responses. Simulation and hardware-in-the-loop results are presented to validate the effectiveness of the proposed method.

中文翻译：

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PMSM驱动器的模型预测直接速度控制，带有转矩振荡减少功能

伺服驱动器要求高动态特性和速度控制的可靠性。传统的级联线性控制器由于具有级联结构，因此存在比例积分参数调整工作和低动态响应的问题。本文提出了一种改进的模型预测直接速度控制方法，该方法具有快速的速度跟踪和很小的速度偏移。新的控制方案通过离散步长预测未来速度，从而消除了级联结构。然后根据用于速度和磁通跟踪的评估标准选择用于控制电动机的最佳电压矢量。为了降低系统成本并提高可靠性，采用了负载转矩观测器来估算实际负载转矩。此外，为避免在快速变速过程中扭矩振荡和超调，转矩抑制因子被包含在成本函数中。此外，开发了一种近视预测校正方法以增强动态和稳态响应。仿真和硬件在环结果被提出来验证所提方法的有效性。