Model-free Predictive Direct Speed Control Method for Surface-mounted Permanent Magnet Synchronous Motors

ZHANG Zhenrui; ZHANG Qingya; WANG Xingyu; XU Jing

doi:10.13334/j.0258-8013.pcsee.241910

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Model-free Predictive Direct Speed Control Method for Surface-mounted Permanent Magnet Synchronous Motors

更新时间：2026-02-28

- Model-free Predictive Direct Speed Control Method for Surface-mounted Permanent Magnet Synchronous Motors
- Vol. 46, Issue 4, Pages: 1651-1661(2026)
- 作者机构：
  
  江苏科技大学海洋装备研究院,江苏省,镇江市,212002
- 作者简介：
- 基金信息：
- DOI：10.13334/j.0258-8013.pcsee.241910
  CLC：
- Published：2026
- 稿件说明：
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ZHANG Zhenrui, ZHANG Qingya, WANG Xingyu, et al. Model-free Predictive Direct Speed Control Method for Surface-mounted Permanent Magnet Synchronous Motors[J]. 2026, 46(4): 1651-1661.
DOI：

ZHANG Zhenrui, ZHANG Qingya, WANG Xingyu, et al. Model-free Predictive Direct Speed Control Method for Surface-mounted Permanent Magnet Synchronous Motors[J]. 2026, 46(4): 1651-1661. DOI： 10.13334/j.0258-8013.pcsee.241910.

摘要

针对表贴式永磁同步电机(surface-mounted permanent magnet synchronous motor，SPMSM)转速控制中参数时变及负载扰动引起的转速波动大的问题，提出一种基于三阶扩张状态观测器(extended state observer，ESO)的无模型预测直接速度控制(model-free predictive direct speed control，MFPDSC)方法，在实现伺服系统转速快速响应的基础上提升稳态性能。首先，对电机转速的二阶数学模型进行重构，将转速扰动等效在电流的集总扰动中，增强系统对负载扰动的响应速度，加强转速的约束控制；其次，将控制集设计在旋转坐标系下，提高多目标优化的代价函数约束精度；然后，设计三阶ESO对电机二阶模型集总扰动进行观测，简化无模型直接转速预测控制的控制结构。利用频域分析证明观测器对系统扰动的抑制作用，利用根轨迹证明控制系统的稳定性。最后，通过搭建SPMSM驱动系统，验证了所提控制策略在响应速度和参数时变扰动抑制方面的优势。

Abstract

Aiming at the problem of large speed fluctuation caused by parameter time-varying and load disturbance in the speed control of surface-mounted permanent magnet synchronous motor(SPMSM)

a model-free predictive direct speed control(MFPDSC) method based on third-order extended state observer(ESO) is proposed to improve the steady-state performance based on obtaining the fast speed response of the servo system. First

the second-order mathematical model of the motor speed is reconstructed

and the speed disturbance is equivalent to the lumped disturbance of the current

which enhances the system's response speed to the load disturbance and strengthens the constraint control of the speed. Second

the control subset is designed in the rotating coordinate system to improve the multi-objective optimization's cost function constraint performance. Then

a third-order ESO is designed to observe the lumped disturbance of the motor's second-order model

simplifying the control structure of the model-free direct speed prediction control. Using frequency domain analysis

the suppression effect of the third-order ESO on the system disturbance is proved

and the stability of the control system is demonstrated by using the root locus. Finally

by building a drive system of SPMSM

the advantages of the proposed control strategy in the response speed and parameter time-varying disturbance suppression are verified.

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