Velocity control of permanent magnet synchronous motors using model predictive and sliding mode cascade controller

Abstract

In this paper, we propose cascade-form velocity controller for a permanent magnet synchronous motor (PMSM). The proposed controller consists of a sliding-mode controller (SMC) for the inner current control loop and a model-predictive controller (MPC) for the outer velocity control loop. With SMC, we can ensure that the current tracking error always converges to zero in finite time. The SMC is designed to track the desired currents. Additionally, with MPC, we can obtain the optimal velocity control input which minimizes the cost function. Constraint conditions for input and input variation are included in the MPC design. The simulation results are included to validate the performance of the proposed controller.