Model Predictive and Sliding Mode Cascade Controller Design for Permanent Magnet Synchronous Motor

Abstract

This paper presents cascade-form velocity controller for a permanent magnet synchronous motor (PMSM). The proposed controller consists of model predictive controller(MPC) for outer velocity control loop and sliding mode controller(SMC) for inner current control loop. The SMC is proposed to track the desired currents in finite time.With SMC, we can ensure that the current tracking error always converges to zero in finite time. 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 closed-loop stability of the proposed controller is proven by Lyapunov theorem. Finally, simulation results are attached to validate the performance of the proposed controller.