MPC Based Trajectory Planning for Permanent Magnet Synchronous Motor
Published online: 10/11/2025
Email tác giả liên hệ:
vinhhao@hcmut.edu.vnDOI:
https://doi.org/10.54644/jte.2025.1795Từ khóa:
PMSM, Model Predictive Control, Load Torque Observer, Trajectory Planning, Space-Vector Pulse Width ModulationTóm tắt
Permanent Magnet Synchronous Motor (PMSM) is increasingly used in applications requiring precise control, particularly in robotic joint control systems. This study aims to assess the feasibility of applying Model Predictive Control (MPC) for position and velocity control of PMSM. The research methodology involves using simulations to verify the effectiveness of MPC, along with the integration of an Kalman Filter (KF) to estimate external loads, thereby improving response time and control over motor parameters. Simulation results demonstrate that MPC achieves high precision in controlling PMSM under basic trajectory planning modes, while the KF enhances load estimation accuracy, allowing the system to stabilize quickly. Additionally, the algorithm has been tested to operate stably at low frequencies, confirming the applicability of MPC in real-time systems. The study concludes that the combination of MPC and KF is a feasible and effective solution for precise PMSM control, with broad potential applications in modern control systems.
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Tài liệu tham khảo
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