In order to reach a compromise between fast response control and torques matching control in double turboshaft engines,research on nonlinear model predictive control for turboshaft engines based on double engines torq...In order to reach a compromise between fast response control and torques matching control in double turboshaft engines,research on nonlinear model predictive control for turboshaft engines based on double engines torques matching is conducted.Meanwhile,a Nonlinear Model Predictive Control(NMPC)method is proposed,which combines the control index of the power turbine speed with torques matching of double engines creatively.In addition to the control index,the difference of output torques between each engine is also incorporated in the objective function as a penalty term to ensure constant speed control and short torques matching time.Simulation results demonstrate that relative to unilateral torques matching,the settling time of the bidirectional matching method can be reduced by nearly 30.8%.Nevertheless,compared with the bidirectional torques matching method under the cascade PID controller,the NMPC method can decrease the overshoot of the power turbine speed by 65%and reduce the matching time by 15.5%synchronously.Besides fast response control of turboshaft engines,fast torques matching control of double engines is accomplished as well.展开更多
To reduce the torque ripple in motors resulting from the use of conventional direct torque control(DTC),a model predictive control(MPC)-based DTC strategy for a direct matrix converter-fed induction motor is proposed ...To reduce the torque ripple in motors resulting from the use of conventional direct torque control(DTC),a model predictive control(MPC)-based DTC strategy for a direct matrix converter-fed induction motor is proposed in this paper.Two new look-up tables are proposed,these are derived on the basis of the control of the electromagnetic torque and stator flux using all the feasible voltage vectors and their associated switching states.Finite control set model predictive control(FCS-MPC)has then been adopted to select the optimal switching state that minimizes the cost function related to the electromagnetic torque.Finally,the experimental results are shown to verify the reduced torque ripple performance of the proposed MPC-based DTC method.展开更多
Finite control set model predictive torque control(FCS-MPTC)has become increasingly prevalent for induction motors(IM)owing to its simple concept,easy incorporation of constraints and strong flexibility.In traditional...Finite control set model predictive torque control(FCS-MPTC)has become increasingly prevalent for induction motors(IM)owing to its simple concept,easy incorporation of constraints and strong flexibility.In traditional FCS-MPTC speed controller design,a classical proportional integral(PI)controller is typically chosen to generate the torque reference.However,the PI controller is dependent on system parameters and sensitive to the load torque variation,which seriously affects control performance.In this paper,a model predictive torque control using sliding mode control(MPTC+SMC)for IM is proposed to enhance the robust performance of the drive system.First,the influence of the parameter mismatches for FCS-MPTC is analyzed.Second,the shortcomings of traditional PI controller are derived.Then,the proposed MPTC+SMC method is designed,and the MPTC+PI and MPTC+SMC are compared theoretically.Finally,experimental results demonstrate the correctness and effectiveness of the proposed MPTC+SMC.In comparison with MPTC+PI,MPTC+SMC has the better dynamic performance and stronger robust performance against parameter variations and load disturbance.展开更多
A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two pha...A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two phase-current sensors are indispensable for MPTC.In response to only one phase current sensor available and the change of stator resistance,a novel adaptive observer for estimating the remaining two phase currents and time-varying stator resistance is proposed to perform MPTC.Moreover,in view of the variation of system parameters and external disturbance,a new GFTSM-based speed regulator is synthesized to enhance the drive system robustness.In this paper,the GFTSM,based on sliding mode theory,employs the fast terminal sliding mode in both the reaching stage and the sliding stage.The resultant GFTSM-based MPTC PMSM drive system with single phase current sensor has excellent dynamical performance which is very close to the GFTSM-based MPTC PMSM drive system with two-phase current sensors.On the other hand,compared with proportional-integral(PI)-based and sliding mode(SM)-based MPTC PMSM drive systems,it possesses better dynamical response and stronger robustness as well as smaller total harmonic distortion(THD)index of three-phase stator currents in the presence of variation of load torque.The simulation results validate the feasibility and effectiveness of the proposed scheme.展开更多
Employing matrix converter （MC） as driving mode, the strategy of model predictive torque control （MPTC） is proposed for three phase permanent magnet synchronous motor （PMSM） system. MC is applied instead of conv...Employing matrix converter （MC） as driving mode, the strategy of model predictive torque control （MPTC） is proposed for three phase permanent magnet synchronous motor （PMSM） system. MC is applied instead of conventional AC DC AC converter to increase the power factor （PF） of the system input side. MPTC is used to select optimal voltage space vector to enable the system to have satisfactory torque and flux control effect. The resultant MPTC strategy not only makes the MC fed PMSM system operate reliably and have perfect control performance, but also makes the PF of the system input side be 1. Compared with direct torque control （DTC）, the proposed MPTC strategy guarantees that MC fed PMSM has better command following characteristics in the presence of variation of load torque and tracking reference speed. Simulation results verify the feasibility and effectiveness of the proposed strategy.展开更多
Aiming at the torque and flux ripples in the direct torque control and the time-varying parameters for permanent magnet synchronous motor (PMSM), a model predictive direct torque control with online parameter estimati...Aiming at the torque and flux ripples in the direct torque control and the time-varying parameters for permanent magnet synchronous motor (PMSM), a model predictive direct torque control with online parameter estimation based on the extended Kalman filter for PMSM is designed. By predicting the errors of torque and flux based on the model and the current states of the system, the optimal voltage vector is selected to minimize the error of torque and flux. The stator resistance and inductance are estimated online via EKF to reduce the effect of model error and the current estimation can reduce the error caused by measurement noise. The stability of the EKF is proved in theory. The simulation experiment results show the method can estimate the motor parameters, reduce the torque, and flux ripples and improve the performance of direct torque control for permanent magnet synchronous motor (PMSM).展开更多
In industrial drives, electric motors are extensively utilized to impart motion control and induction motors are the most familiar drive at present due to its extensive performance characteristic similar with that of ...In industrial drives, electric motors are extensively utilized to impart motion control and induction motors are the most familiar drive at present due to its extensive performance characteristic similar with that of DC drives. Precise control of drives is the main attribute in industries to optimize the performance and to increase its production rate. In motion control, the major considerations are the torque and speed ripples. Design of controllers has become increasingly complex to such systems for better management of energy and raw materials to attain optimal performance. Meager parameter appraisal results are unsuitable, leading to unstable operation. The rapid intensification of digital computer revolutionizes to practice precise control and allows implementation of advanced control strategy to extremely multifaceted systems. To solve complex control problems, model predictive control is an authoritative scheme, which exploits an explicit model of the process to be controlled. This paper presents a predictive control strategy by a neural network predictive controller based single phase induction motor drive to minimize the speed and torque ripples. The proposed method exhibits better performance than the conventional controller and validity of the proposed method is verified by the simulation results using MATLAB software.展开更多
A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to...A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to achieve high-precision control,two-phase current sensors are necessary for successful implementation of MPTC.For this purpose,two ESOs are used to estimate q-axis current and stator resistance respectively,and then based on this,d-axis current is estimated.Moreover,to reduce torque and flux ripple and to improve the performance of the torque and speed,MPTC strategy is designed.The simulation results validate the feasibility and effectiveness of the proposed scheme.展开更多
In order to effectively achieve torque demand in electric vehicles （EVs）, this paper presents a torque control strategy based on model predictive control （MPC） for permanent magnet synchronous motor （PMSM） drive...In order to effectively achieve torque demand in electric vehicles （EVs）, this paper presents a torque control strategy based on model predictive control （MPC） for permanent magnet synchronous motor （PMSM） driven by a two-level three-phase inverter. A centralized control strategy is established in the MPC framework to track the torque demand and reduce energy loss, by directly optimizing the switch states of inverter. To fast determine the optimal control sequence in predictive process, a searching tree is built to look for optimal inputs by dynamic programming （DP） algorithm on the basis of the principle of optimality. Then we design a pruning method to check the candidate inputs that can enter the next predictive loop in order to decrease the computational burden of evaluation of input sequences. Finally, the simulation results on different conditions indicate that the proposed strategy can achieve a tradeoff between control performance and computational efficiency.展开更多
Single voltage vectors applied in the conventional model predictive torque control(MPTC)for multiphase motors do not only suffer from serious torque and stator flux ripples but also cause the large harmonic current.To...Single voltage vectors applied in the conventional model predictive torque control(MPTC)for multiphase motors do not only suffer from serious torque and stator flux ripples but also cause the large harmonic current.To address the aforementioned challenges,an MPTC using a modified dual virtual vector modulation method is proposed to improve the operational performance of a dual three-phase permanent magnet synchronous motor.Virtual voltage vectors are synthesized as the candidate control set to restrain the harmonic current.A transformation method is introduced to consider both the stator flux and torque in the duty cycle modulation.The torque and stator flux ripples are simultaneously reduced by addressing the limitations of nonuniform units.Furthermore,the null voltage vector is then inserted to expand the modulation range and improve the steady-state performance.Moreover,the sawtooth carrier is adopted to address the challenge of the asymmetric switch sequence caused by the modified modulation.Finally,the experimental results are presented to verify the effectiveness and superiority of the proposed MPTC method.展开更多
Model predictive control(MPC)has attracted widespread attention in both academic and industry communities due to its merits of intuitive concept,quick dynamic response,multi-variable control,ability to handle various ...Model predictive control(MPC)has attracted widespread attention in both academic and industry communities due to its merits of intuitive concept,quick dynamic response,multi-variable control,ability to handle various nonlinear constraints,and so on.It is considered a powerful alternative to field oriented control(FOC)and direct torque control(DTC)in high performance AC motor drives.Compared to FOC,MPC eliminates the use of internal current control loops and modulation block,hence featuring very quick dynamic response.Compared to DTC,MPC uses a cost function rather than a heuristic switching table to select the best voltage vector,producing better steady state performance.In spite of the merits above,MPC also presents some drawbacks such as high computational burden,nontrivial weighting factor tuning,high sampling frequency,variable switching frequency,model/parameter dependence and relatively high steady ripples in torque and stator flux.This paper presents the state of the art of MPC in high performance induction motor(IM)drives,and in particular the progress on solving the drawbacks of conventional MPC.Finally,one of the improved MPC is compared to FOC to validate its superiority.It is shown that the improved MPC has great potential in the future high performance AC motor drives.展开更多
In this paper, an optimal control scheme for wind turbine output torque and power regulation under the influence of wind disturbances is presented. The system considered is a dynamic mechanical-based model with pitch ...In this paper, an optimal control scheme for wind turbine output torque and power regulation under the influence of wind disturbances is presented. The system considered is a dynamic mechanical-based model with pitch and generator torque actuators for controlling the pitch and generator torque. The performance of linear matrix inequality (LMI) formalism of linear quadratic regulator (LQR);linear quadratic regulator with integral action (LQRI) and model predictive control (MPC) were compared in response to a step change in wind disturbance. It is shown by Matlab simulation that the LQRI outperformed both LQR and MPC controllers.展开更多
Aiming at the problem that the traditional control strategy of permanent magnet synchronous motor(PMSM)for electric vehicles has low control performance,a novel adaptive non-singular fast terminal sliding mode control...Aiming at the problem that the traditional control strategy of permanent magnet synchronous motor(PMSM)for electric vehicles has low control performance,a novel adaptive non-singular fast terminal sliding mode control(ANFTSMC)model predictive torque control(MPTC)strategy is proposed.A new adaptive exponential approach rate is designed,and the traditional switching function sgn()is replaced by the hyperbolic tangent function tanh().A new ANFTSMC with extended state observer(ESO)is constructed as the speed regulator of the system,and ESO can observe disturbances.This improved method weakens chattering and improves the robustness of the system.To realize sensorless control of the speed control system,an ESO speed observer based on tanh(Fal)is constructed.Compared with the traditional ESO based on Fal function,the observation error is smaller,and the observation accuracy is higher.Finally,aiming at the model predictive torque control strategy used,a new objective function construction method is proposed,which avoids the design of weight coefficient,and the traditional voltage vector selection method is improved and optimized,which reduces the calculation amount of the algorithm.展开更多
基金co-supported by the National Natural Science Foundation of China(No.51576096)Qing Lan and 333 Project and Research Funds for Central Universities(No.NF2018003).
文摘In order to reach a compromise between fast response control and torques matching control in double turboshaft engines,research on nonlinear model predictive control for turboshaft engines based on double engines torques matching is conducted.Meanwhile,a Nonlinear Model Predictive Control(NMPC)method is proposed,which combines the control index of the power turbine speed with torques matching of double engines creatively.In addition to the control index,the difference of output torques between each engine is also incorporated in the objective function as a penalty term to ensure constant speed control and short torques matching time.Simulation results demonstrate that relative to unilateral torques matching,the settling time of the bidirectional matching method can be reduced by nearly 30.8%.Nevertheless,compared with the bidirectional torques matching method under the cascade PID controller,the NMPC method can decrease the overshoot of the power turbine speed by 65%and reduce the matching time by 15.5%synchronously.Besides fast response control of turboshaft engines,fast torques matching control of double engines is accomplished as well.
基金supported in part by the Hunan Provincial Key Laboratory of Power Electronics Equipment and Grid under Grant 2018TP1001in part by the National Natural Science Foundation of China under Grant 61903382,51807206,61933011+1 种基金in part by the Major Project of Changzhutan Self-Dependent Innovation Demonstration Area under Grant 2018XK2002in part by the Natural Science Foundation of Hunan Province,China under Grant 2020JJ5722 and 2020JJ5753.
文摘To reduce the torque ripple in motors resulting from the use of conventional direct torque control(DTC),a model predictive control(MPC)-based DTC strategy for a direct matrix converter-fed induction motor is proposed in this paper.Two new look-up tables are proposed,these are derived on the basis of the control of the electromagnetic torque and stator flux using all the feasible voltage vectors and their associated switching states.Finite control set model predictive control(FCS-MPC)has then been adopted to select the optimal switching state that minimizes the cost function related to the electromagnetic torque.Finally,the experimental results are shown to verify the reduced torque ripple performance of the proposed MPC-based DTC method.
基金supported in part by the National Natural Science Funds of China under Grants 5217071282 and 5210071275in part by China Postdoctoral Science Foundation under Grant 2020M683524+7 种基金in part by Nature Science Basic Research Plan in Shaanxi Province under Grant 2020JQ-631 and 2021JQ-477in part by State Key Laboratory of Electrical Insulation and Power Equipment under Grant EIPE20201in part by State Key Laboratory of Large Electric Drive System and Equipment Technology under Grant SKLLDJ012016006in part by Key Research and Development Project of ShaanXi Province under Grant 2019GY-060in part by Key Laboratory of Industrial Automation in ShaanXi Province under Grant SLGPT2019KF01-12in part by the Key R&D plan of Shaanxi Province under Grant 2021GY-282in part by Shaanxi Outstanding Youth Fund under Grant 2020JC-40in part by Key Laboratory of Power Electronic Devices and High Efficiency Power Conversion in Xi’an under Grant 2019219814SYS013CG035。
文摘Finite control set model predictive torque control(FCS-MPTC)has become increasingly prevalent for induction motors(IM)owing to its simple concept,easy incorporation of constraints and strong flexibility.In traditional FCS-MPTC speed controller design,a classical proportional integral(PI)controller is typically chosen to generate the torque reference.However,the PI controller is dependent on system parameters and sensitive to the load torque variation,which seriously affects control performance.In this paper,a model predictive torque control using sliding mode control(MPTC+SMC)for IM is proposed to enhance the robust performance of the drive system.First,the influence of the parameter mismatches for FCS-MPTC is analyzed.Second,the shortcomings of traditional PI controller are derived.Then,the proposed MPTC+SMC method is designed,and the MPTC+PI and MPTC+SMC are compared theoretically.Finally,experimental results demonstrate the correctness and effectiveness of the proposed MPTC+SMC.In comparison with MPTC+PI,MPTC+SMC has the better dynamic performance and stronger robust performance against parameter variations and load disturbance.
基金supported by the National Natural Science Foundation of China(61463025).
文摘A global fast terminal sliding mode(GFTSM)-based model predictive torque control(MPTC)strategy is developed for permanent magnet synchronous motor(PMSM)drive system with only one phase current sensor.Generally two phase-current sensors are indispensable for MPTC.In response to only one phase current sensor available and the change of stator resistance,a novel adaptive observer for estimating the remaining two phase currents and time-varying stator resistance is proposed to perform MPTC.Moreover,in view of the variation of system parameters and external disturbance,a new GFTSM-based speed regulator is synthesized to enhance the drive system robustness.In this paper,the GFTSM,based on sliding mode theory,employs the fast terminal sliding mode in both the reaching stage and the sliding stage.The resultant GFTSM-based MPTC PMSM drive system with single phase current sensor has excellent dynamical performance which is very close to the GFTSM-based MPTC PMSM drive system with two-phase current sensors.On the other hand,compared with proportional-integral(PI)-based and sliding mode(SM)-based MPTC PMSM drive systems,it possesses better dynamical response and stronger robustness as well as smaller total harmonic distortion(THD)index of three-phase stator currents in the presence of variation of load torque.The simulation results validate the feasibility and effectiveness of the proposed scheme.
基金National Natural Science Foundation of China(No.61463025)Program for Excellent Team of Scientific Research in Lanzhou Jiaotong University(No.201701)
文摘Employing matrix converter （MC） as driving mode, the strategy of model predictive torque control （MPTC） is proposed for three phase permanent magnet synchronous motor （PMSM） system. MC is applied instead of conventional AC DC AC converter to increase the power factor （PF） of the system input side. MPTC is used to select optimal voltage space vector to enable the system to have satisfactory torque and flux control effect. The resultant MPTC strategy not only makes the MC fed PMSM system operate reliably and have perfect control performance, but also makes the PF of the system input side be 1. Compared with direct torque control （DTC）, the proposed MPTC strategy guarantees that MC fed PMSM has better command following characteristics in the presence of variation of load torque and tracking reference speed. Simulation results verify the feasibility and effectiveness of the proposed strategy.
文摘Aiming at the torque and flux ripples in the direct torque control and the time-varying parameters for permanent magnet synchronous motor (PMSM), a model predictive direct torque control with online parameter estimation based on the extended Kalman filter for PMSM is designed. By predicting the errors of torque and flux based on the model and the current states of the system, the optimal voltage vector is selected to minimize the error of torque and flux. The stator resistance and inductance are estimated online via EKF to reduce the effect of model error and the current estimation can reduce the error caused by measurement noise. The stability of the EKF is proved in theory. The simulation experiment results show the method can estimate the motor parameters, reduce the torque, and flux ripples and improve the performance of direct torque control for permanent magnet synchronous motor (PMSM).
文摘In industrial drives, electric motors are extensively utilized to impart motion control and induction motors are the most familiar drive at present due to its extensive performance characteristic similar with that of DC drives. Precise control of drives is the main attribute in industries to optimize the performance and to increase its production rate. In motion control, the major considerations are the torque and speed ripples. Design of controllers has become increasingly complex to such systems for better management of energy and raw materials to attain optimal performance. Meager parameter appraisal results are unsuitable, leading to unstable operation. The rapid intensification of digital computer revolutionizes to practice precise control and allows implementation of advanced control strategy to extremely multifaceted systems. To solve complex control problems, model predictive control is an authoritative scheme, which exploits an explicit model of the process to be controlled. This paper presents a predictive control strategy by a neural network predictive controller based single phase induction motor drive to minimize the speed and torque ripples. The proposed method exhibits better performance than the conventional controller and validity of the proposed method is verified by the simulation results using MATLAB software.
基金National Natural Science Foundation of China(No.61463025)Opening Foundation of Key Laboratory of Opto-technology and Intelligent Control(Lanzhou Jiaotong University),Ministry of Education(No.KFKT2018-8)
文摘A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to achieve high-precision control,two-phase current sensors are necessary for successful implementation of MPTC.For this purpose,two ESOs are used to estimate q-axis current and stator resistance respectively,and then based on this,d-axis current is estimated.Moreover,to reduce torque and flux ripple and to improve the performance of the torque and speed,MPTC strategy is designed.The simulation results validate the feasibility and effectiveness of the proposed scheme.
基金This work was supported by the NSFC Projects of International Cooperation and Exchanges （No. 61520106008）, the National Natural Science Foundation of China （Nos. 61503149, U1564207） and the Graduate Innovation Fund of Jilin University （No. 2016093）.
文摘In order to effectively achieve torque demand in electric vehicles （EVs）, this paper presents a torque control strategy based on model predictive control （MPC） for permanent magnet synchronous motor （PMSM） driven by a two-level three-phase inverter. A centralized control strategy is established in the MPC framework to track the torque demand and reduce energy loss, by directly optimizing the switch states of inverter. To fast determine the optimal control sequence in predictive process, a searching tree is built to look for optimal inputs by dynamic programming （DP） algorithm on the basis of the principle of optimality. Then we design a pruning method to check the candidate inputs that can enter the next predictive loop in order to decrease the computational burden of evaluation of input sequences. Finally, the simulation results on different conditions indicate that the proposed strategy can achieve a tradeoff between control performance and computational efficiency.
基金Supported by the National Natural Science Foundation of China under Grant 51977099the Natural Science Foundation of Jiangsu Province under Grant BK20191225the Priority Academic Program Development of Jiangsu Higher Education Institutions.
文摘Single voltage vectors applied in the conventional model predictive torque control(MPTC)for multiphase motors do not only suffer from serious torque and stator flux ripples but also cause the large harmonic current.To address the aforementioned challenges,an MPTC using a modified dual virtual vector modulation method is proposed to improve the operational performance of a dual three-phase permanent magnet synchronous motor.Virtual voltage vectors are synthesized as the candidate control set to restrain the harmonic current.A transformation method is introduced to consider both the stator flux and torque in the duty cycle modulation.The torque and stator flux ripples are simultaneously reduced by addressing the limitations of nonuniform units.Furthermore,the null voltage vector is then inserted to expand the modulation range and improve the steady-state performance.Moreover,the sawtooth carrier is adopted to address the challenge of the asymmetric switch sequence caused by the modified modulation.Finally,the experimental results are presented to verify the effectiveness and superiority of the proposed MPTC method.
文摘Model predictive control(MPC)has attracted widespread attention in both academic and industry communities due to its merits of intuitive concept,quick dynamic response,multi-variable control,ability to handle various nonlinear constraints,and so on.It is considered a powerful alternative to field oriented control(FOC)and direct torque control(DTC)in high performance AC motor drives.Compared to FOC,MPC eliminates the use of internal current control loops and modulation block,hence featuring very quick dynamic response.Compared to DTC,MPC uses a cost function rather than a heuristic switching table to select the best voltage vector,producing better steady state performance.In spite of the merits above,MPC also presents some drawbacks such as high computational burden,nontrivial weighting factor tuning,high sampling frequency,variable switching frequency,model/parameter dependence and relatively high steady ripples in torque and stator flux.This paper presents the state of the art of MPC in high performance induction motor(IM)drives,and in particular the progress on solving the drawbacks of conventional MPC.Finally,one of the improved MPC is compared to FOC to validate its superiority.It is shown that the improved MPC has great potential in the future high performance AC motor drives.
文摘In this paper, an optimal control scheme for wind turbine output torque and power regulation under the influence of wind disturbances is presented. The system considered is a dynamic mechanical-based model with pitch and generator torque actuators for controlling the pitch and generator torque. The performance of linear matrix inequality (LMI) formalism of linear quadratic regulator (LQR);linear quadratic regulator with integral action (LQRI) and model predictive control (MPC) were compared in response to a step change in wind disturbance. It is shown by Matlab simulation that the LQRI outperformed both LQR and MPC controllers.
基金Project of National Natural Science Foundation of China(No.61863023)。
文摘Aiming at the problem that the traditional control strategy of permanent magnet synchronous motor(PMSM)for electric vehicles has low control performance,a novel adaptive non-singular fast terminal sliding mode control(ANFTSMC)model predictive torque control(MPTC)strategy is proposed.A new adaptive exponential approach rate is designed,and the traditional switching function sgn()is replaced by the hyperbolic tangent function tanh().A new ANFTSMC with extended state observer(ESO)is constructed as the speed regulator of the system,and ESO can observe disturbances.This improved method weakens chattering and improves the robustness of the system.To realize sensorless control of the speed control system,an ESO speed observer based on tanh(Fal)is constructed.Compared with the traditional ESO based on Fal function,the observation error is smaller,and the observation accuracy is higher.Finally,aiming at the model predictive torque control strategy used,a new objective function construction method is proposed,which avoids the design of weight coefficient,and the traditional voltage vector selection method is improved and optimized,which reduces the calculation amount of the algorithm.
