Trajectory Linearisation-based Offset-free MPC for Synchronous Electric Motor Drives with Nonlinear Magnetic Characteristic

A trajectory linearisation-based offset-free continuous control-set model predictive control algorithm is proposed in this paper. The problem formulation is obtained by means of a full-incremental velocity form, which brings along an integral-like action that ensure zero offset tracking without the aid of disturbance observers. The adopted motor model is based on trajectory linearization rather than constant motor parameter or parameter adaptation from tabled data. The proposed strategy simplifies the tuning of the model predictive control algorithm, meanwhile boosting the current control performances to achieve optimal control. Several tests were carried out on a synchronous reluctance motor characterised by highly nonlinear magnetic flux linkages characteristics. Comparisons with conventional full-incremental velocity form MPC implementation are reported to highlight the benefit that the proposed algorithm brings along.