Hybrid model predictive control for speed control of permanent magnet synchronous motor with saturation

A discrete-time hybrid model of a permanent magnet synchronous motor (PMSM) with saturation in voltage and current is formulated. The controller design with incorporated constraints is achieved in a systematic way from modeling to control synthesis and implementation. The Hybrid System Description Language is used to obtain a mixedlogical dynamical (MLD) model. Based on the MLD model, a model predictive controller is designed for an optimal speed regulation of the motor. For reducing computation complexity and computation time, the MPC controller is converted to its equivalent explicit piecewise affine form by multiparametric programming. Simulations and experiments show that good and robust control performance is achieved by the hybrid model predictive controller as compared with the linear quadratic regulator (LQR) and the PID controller.