Robust Model Predictive Control for Position Servo Motor System

In order to improve the control performance of permanent magnet synchronous motor position servo system, a robust model predictive direct speed control (MPDSC) strategy is proposed. Firstly, a hybrid MPDSC strategy which combine the finite control set MPDSC and double vector MPDSC strategy is introduced. It can switch between steady and dynamic state of the motor. Then, a parameters disturbance and load observer based on sliding-mode control theory is designed to eliminate the mismatch of electrical and mechanical parameters and the load disturbance. Finally, the experiments are presented to verify the validity of the proposed control schemes.