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AbstractField programmable gate array (FPGA) implementation of a model predictive control with constant switching
frequency (MPC-CSF) for a permanent magnet synchronous
machine (PMSM) is proposed. The basic finite states MPC
(FS-MPC) can be combined with a pulsewidth modulation
(PWM) modulator because of an effective cost function optimization algorithm in which voltage vectors are dynamically selected
and calculated through iteration based on the idea similar
to dichotomy. Using model-based design (MBD), MPC-CSF is
implemented on an FPGA with parallel and pipeline processing
techniques in short execution time. Functionality simulation
analysis presents that MPC-CSF is much robust to parameter
variations. Experimental results illustrate that MPC-CSF has
good dynamic performance for PMSM drives.
Index TermsField programmable gate array (FPGA), model
predictive control (MPC), optimization algorithm, permanent
magnet synchronous machine (PMSM).
I. I NTRODUCTION
Manuscript received January 08, 2014; revised May 29, 2014; accepted
July 11, 2014. Date of publication July 30, 2014; date of current version
November 04, 2014. Paper no. TII-14-0020.
The authors are with the Institute for Electrical Drive Systems and
Power Electronics, Technical University of Munich, Munich 80333, Germany
(e-mail: zhixun.ma@tum.de; saeid.saeidi@tum.de; ralph.kennel@tum.de).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TII.2014.2344432
c 2014 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
1551-3203
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
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(1)
(2)
spm
uss = Rs iss +
Fig. 1. Three-phase two-level converter-fed PMSM drive system and its finite
voltage vector set.
Jm
dm
= Tm Tl B m m
dt
r = pm .
(6)
(7)
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Ts s
3 s
pi (k + 1) j ss (k + 1).
2 s
(9)
(10)
The cost function is selected for torque and flux control. This FS-MPC is also called predictive torque control
(PTC) [1]
k+1
Tm
| + ||s | |sk+1 ||
g = |Tm
(11)
k+1
Tm
| + ||s | |sk+1 || + I
G = |Tm
I =
(12)
0, if is < Is.max
, else
flux the same weight, where Tn and n are the rated values
for torque and stator flux, respectively.
B. Cost Function Optimization Algorithm
The basic idea of the cost function optimization algorithm
is dichotomy which is an important idea for computer
systems. As shown in Fig. 3, all voltage vectors are inside the
circular plane with a radius of Um (the maximum available
voltage). In every switching interval, the initialization of the
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TABLE I
FPGA A REA U TILIZATION OF MPC-CSF I MPLEMENTATION
TABLE II
N OMINAL PARAMETERS OF SMPMSM
current. Three phase with the same current offset has no effect
on the torque and flux linkages since there is no offset after
Clarke transformation.
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Fig. 12. MPC-CSF for PMSM drives: -axis and dq-axis currents performance with a torque step from 4 to 8 Nm.
Fig. 10. PMSM drive performance using MPC-CSF with current offset
(simulation). (a) 1 A current offset of Phase A. (b) 1 A current offset of all
three phases.
Fig. 13. MPC-CSF for PMSM drives: -axis current, the flux linkage, the
torque, and the speed performance with a speed step from 0 to 20 rad/s.
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