6930 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 64, NO.
9, SEPTEMBER 2017
Torque Ripple Minimization of Predictive Torque
Control for PMSM With Extended Control Set
Zhanqing Zhou, Student Member, IEEE, Changliang Xia, Senior Member, IEEE, Yan Yan,
Zhiqiang Wang, Member, IEEE, and Tingna Shi, Member, IEEE
Abstract—To reduce the steady-state torque ripples for
permanent-magnet synchronous motor drives with predic-
tive torque control (PTC), this paper proposes a modified
PTC algorithm based on the extended control set (ECS-
PTC). In the proposed algorithm, more candidate voltage
vectors are extended to the control set, which forms the
ECS, and then, the torque control precision could be im-
proved and the torque ripples will be reduced. More attrac-
tive thing is that a new voltage vector synthesis method
is deigned in ECS-PTC, and the corresponding predictive
model and cascaded predictive algorithm are set up on the
basis of this method. With the help of them, the optimal
vector can be selected from ECS in a shorter control pe-
riod of time, and its amplitude is also optimized at the same
time to achieve high-precision control effects for torque and
flux. In addition, the three-phase duty ratios of the output
vector can be determined in ECS-PTC directly, without the
help of space vector pulse width modulation. The exper-
imental results show that ECS-PTC has excellent dynamic
torque performance, and it also has more stable torque con-
trol performance and better execution efficiency at the same
time.
Index Terms—Duty cycle modulation, finite control set
predictive torque control (FCS-PTC), permanent-magnet
synchronous motors (PMSMs), torque ripple minimization,
virtual vectors.
I. INTRODUCTION
ERMANENT-MAGNET synchronous motors (PMSMs)
P have been widely used in the CNC machine tools, ele-
vator control, and traction drive because of the advantages of
Manuscript received December 18, 2016; revised February 23, 2017;
accepted March 16, 2017. Date of publication March 22, 2017; date
of current version August 9, 2017. This work was supported in part
by the Major Program of the National Natural Science Foundation of
China under Grant 51690180 and in part by the National Natural Sci-
ence Foundation of China under Grant 51377121 and Grant 51407127.
(Corresponding author: C. Xia.)
Z. Zhou, Y. Yan, and T. Shi are with the School of Electrical
and Information Engineering, Tianjin University, Tianjin 300072, China
(e-mail: zhzhq@tju.edu.cn; yanyan@tju.edu.cn; tnshi@tju.edu.cn).
C. Xia is with the School of Electrical and Information Engineer-
ing, Tianjin University, Tianjin 300072, China, and also with the Tian-
jin Engineering Center of Electric Machine System Design and Con-
trol, Tianjin Polytechnic University, Tianjin 300387, China (e-mail:
motor@tju.edu.cn).
Z. Wang is with the Tianjin Engineering Center of Electric Ma-
chine System Design and Control, Tianjin Polytechnic University, Tianjin
300387, China (e-mail: wangzhq@tju.edu.cn).
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/TIE.2017.2686320
0278-0046 © 2017 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
simple structure, high power factor, and widely speed range [1],
[2]. Finite control set predictive torque control (FCS-PTC), as
a kind of closed-loop control algorithm, has been successfully
applied in PMSM drives [3]–[5].
For FCS-PTC algorithm applied in the two-level voltage-
sourced inverter (2L-VSI)-fed PMSM drives, its control set (CS)
only contains six active voltage vectors whose amplitude and
phase angle are fixed. Because of this, the torque and flux con-
trol freedom and precision are limited in the case of long control
period, which leads to large torque ripples of drive system [6],
[7]. To solve this problem, scholars attempt to promote the
torque and flux control precision by adding vectors with ad-
justable amplitude and phase angle into CS. Based on this idea,
several improved predictive control algorithms are proposed in
recent years, and they can be divided into the following three
categories.
The first kind of algorithm is the continuous control set (CCS)
predictive control [8], [9]. With the help of space vector mod-
ulation, this kind of algorithm could employ the vectors with
arbitrary amplitude and phase angle to control the motor, then
obtaining the precise adjustment of torque and stator flux, but it
is impossible for digital processor to enumerate all predictions
and evaluate all objective function values within a very short
control period. To make it possible for the CCS-based algo-
rithm to apply in the rapid dynamic response systems, such as
motor drives, two well-known alternatives are the generalized
predictive control [10], [11] and the explicit model predictive
control [12], respectively, in which the optimization problem
can be solved offline.
The second kind of algorithm is the multivectors PTC. In [6]
and [7], the steady-state performance of motor is improved by
introducing duty cycle control. In other words, the optimum vec-
tor, which is selected from the six active vectors by minimizing
a predefined cost function, is only applied for a fraction of the
control period and the rest of time is allocated for a zero vector.
However, in these algorithms, the vectors of CS only have ad-
justable amplitude, their phase angles are fixed. To obtain more
precise torque control effect, Zhang et al. [13], [14] propose the
two- and three-vector-based predictive control algorithms, their
CS possess vectors whose amplitude and phase angle are both
adjustable. The most attractive feature of these algorithms is
that the subsequent vectors (namely, the second or third vector)
are not fixed as the zero vectors but selected in a border scope,
which could ensure more stable torque control performance.
ZHOU et al.: TORQUE RIPPLE MINIMIZATION OF PREDICTIVE TORQUE CONTROL FOR PMSM WITH EXTENDED CONTROL SET 6931

The third kind of algorithm is the table-based PTC. In [15], CS

is augmented by taking duty cycle modulation on the six active
vectors. Thus, more vectors with duty cycle can be taken as the
candidate vectors in this algorithm, and the change trends of
torque and flux generated by them are precalculated and stored
in a 3-D table. On the basis of this table, relevant optimization
problems are designed to select two vectors with duty cycle
from CS. By applying the space vector synthesized by them,
this algorithm is possible to achieve better torque performance.
Similarly, Xia et al. [16], [17] add a number of virtual vectors,
whose magnitude and phase angle can be configured freely, into
CS, and some tables are established to choose the optimal vector
from all of virtual vectors. By taking advantage of the variety
of the virtual vectors, these algorithms could obtain superior
steady-state and dynamic performances.
In this paper, to reduce the torque ripples of a PTC-PMSM
drive system, a modified predictive torque control algorithm
with extended control set (ECS-PTC) is proposed. In the pro-
posed algorithm, more virtual vectors are extended to CS, which
forms the ECS; thus, the torque and flux control freedom and
precision will be improved so that the torque ripples of the motor
will be reduced. Besides, in order to simplify the selection and
output process of the optimal vector, this paper designed a new
method to synthesize vectors in ECS. This method is conducive
to predict the torque and flux more quickly, and more attractive
thing is that it could determine the three-phase duty ratios cor-
responding to the optimal vector during the prediction process Fig. 1. Three-phase two-level inverter-fed PMSM drive system and
so that the practicability of ECS-PTC will be improved. its voltage vectors map. (a) Topology map and (b) vectors map when
N v = 3.
II. PHYSICAL MODEL
A. Proposed ECS and Novel Vector Synthesis Method interval. The CS composed of the six active vectors and 6Nv
The schematic diagram of a 2L-VSI-PMSM drive system is virtual voltage vectors are defined as the “ECS.” The voltage
presented in Fig. 1(a). vectors of ECS are called as “ECS vector.”
In Fig. 1(a), SAp , SBp , SCp , SAn , SBn , and SCn are the In the CCS-PTC and multivectors PTC algorithms, the three-
switching signals of upper and lower inverter legs respect to A, phase duty ratios of virtual voltage vectors are determined by
B, and C phases, respectively. There are eight switching states space vector pulse width modulation. In the table-based PTC
for the 2L-VSI, as the upper and lower legs are complementary. algorithm, the three-phase duty ratios of virtual voltage vectors
The output line voltage corresponding to eight switching states are stored in ROM or RAM in advance. Unlike them, this paper
can be transformed into six space vectors, whose amplitude and designs a new vector synthesis method to determine the three-
phase position are fixed phase duty ratios of ECS vectors during the prediction process,
and its concrete implementation is as follows.
2
Udc ej ( 3 − 3 ) ,
iπ π
Vi = i = 1, ..., 6 (1) First, divide the sectors I–VI into three groups taking V 1 , V 3 ,
3 and V 5 as boundary vectors. Namely sectors I–II between V 1
and two zero vectors (V 0 , V 7 ). In (1), Udc is the dc-bus voltage. and V 3 are regarded as a group; sectors III–IV between V 3 and
In addition, define the vector V 5 are regarded as a group; sectors V–VI between V 5 and V 1
are regarded as a group. From Fig. 1(b), ECS vector can always
S i = [ SAp SBp SCp ] (2)
be synthesized by the two boundary vectors of its own sector
to represent the three-phase switching states of V i which are group. The synthesis relationship is
shown in Fig. 1(b). The three-phase switching states of V 0 and
V s = V m + dn V n (3)
V 7 are S 0 = [0 0 0] and S 7 = [1 1 1], respectively.
In this paper, in order to expand the CS of FCS-PTC algorithm where V m and V n are the boundary vectors of the sector group
and achieve more accurate torque and flux control, the complex corresponding to V s . According to the three-phase symme-
plane is divided into six sectors with voltage vectors V 1 −V 6 as try, V m and V n in each sector are represented in Table I.
boundary. The label of the six sectors is represented as I, II, . . . , From this table, V m and V n corresponding to each ECS vec-
VI, as shown in Fig. 1(b). Meanwhile, the Nv virtual voltage tor in certain sector are always same, only the dn is different.
vectors are defined in each sector with the same phase-angle dn ∈ [0, 1] is the distribution coefficient of V n , and its value
6932 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 64, NO. 9, SEPTEMBER 2017

TABLE I where V s , is , and Ψs represent the stator voltage, current, and

BOUNDARY VECTORS IN DIFFERENT SECTORS
flux vector; Ψr = ψr ej θ e represents the rotor flux vector, and ψr
is the permanent-magnet flux; θe is the electrical rotor position;
Sector Vm Vn
and Rs and Ls represent the stator resistance and inductance,
I V1 V3 respectively.
II V3 V1 From (6) and (7), the derivative of stator flux modulus ψs can
III V3 V5
IV V5 V3
be obtained as follows:
V5 V1
V
V1 V5
dψs Ψs • (V s − Rs is )
VI = . (8)
dt ψs
Neglecting the impact of stator resistance, (8) could be rear-
is equal to the ratio between the projection of V s in V n di- ranged as
rection and V n . Considering the virtual voltage vectors are
dψs
distributed with the same phase-angle interval in each sector, τψ = = |V s | cos (θv − θs ) (9)
dn = 0, 1/(Nv + 1), 2/(Nv + 1), . . . , 1 in ECS. For exam- dt
ple, in the sector I, V m = V 1 , V n = V 3 , then the first virtual where θv and θs represent the position angle of V s and Ψs in
vector along counterclockwise direction can be synthesized as the stationary frame, respectively; |V s | represents the modulus
V s = V 1 + 0.25V 3 when Nv = 3, as shown in Fig. 1(b). of stator voltage vector.
Second, let dA , dB , and dC denote the ratios between turn- The electromagnetic torque of PMSM can be calculated ac-
on times of SAp , SBp , and SCp and Ts , respectively. They cording to
are called as three-phase duty ratios in this paper. The vector
ds = [dA dB dC ] composed of the three-phase duty ratios cor- Te = 1.5p |Ψs × is | (10)
responding to certain ECS vector always satisfies the following
relationship: where Te represents the electromagnetic torque; p represents the
number of pole pairs.
ds = S m + dn S n (4) From (6), (7), and (10), the torque derivative can be obtained
where S m and S n are the three-phase switch states correspond- as follows [18]:
ing to V m and V n . For example, three-phase duty ratios of the dTe
first ECS vector along counterclockwise direction in sector I = τ0 + τ t (11)
dt
satisfy ds = S 1 + 0.25S 3 , as shown in Fig. 1(b).
1.5pω ψ r ψ s cos(θ s − θ e )
According to the above method, the synthesis of ECS vec- where τ0 = − Rs Te
Ls − Ls ; τt =
tor and the calculation of its three-phase duty ratios can be 1.5pψ r |V s | sin(θ v −θ e )
; ω represents the electrical rotor speed.
Ls
combined into the process for sector determination and dn Considering the discrete control period is short enough,
calculation. Specifically, determine the sector of ECS vector the torque and flux predictive model can be obtained as
first, and obtain the corresponding V m and V n by looking up follows:
Table I; second, determine the dn of ECS vector. Finally, sub-
stitute V m , V n , and dn into (3) and (4), thus we can synthesize ψs (k + 1) = ψs (k) + τψ Ts + Eψ (k) (12)
this ECS vector and obtain its three-phase duty ratios. To sum
up, each sector number and dn could determine the ECS vector Te (k + 1) = Te (k) + τt Ts + τ0 Ts + Et (k) (13)
uniquely. For example, in Fig. 1(b), the first ECS vector along
where Ts represents the discrete control period; ψs (k),
counterclockwise direction in sector I can be represented as
Te (k), ψs (k + 1), and Te (k + 1) represent the stator flux mod-
(I, 0.25). Thus,
ulus and torque at the kTs and (k + 1)Ts instant, respectively.
ECS = Eψ (k) and Et (k) represent the error between the predicted val-
   ues of ψs , Te , and their measured values in the last time. With
 V s = V m + dn V n ; ds = S m + dn S n
 the help of Eψ (k) and Et (k), the prediction error at the kTs
Sector, dn  .
dn = 0, 1 , 2 , ..., 1 instant can be corrected, and the parameter robustness of (12)
N v +1 N v +1
(5) and (13) will be improved [19], [20].
From (12) and (13), the value of τψ and τt will be required,
when predicting the torque and flux under the effect of ECS
B. Predictive Model With Low Complexity
vectors. However, a large amount of computational cost will be
With the Faraday’s law, the machine equations in stationary caused if we calculate τψ and τt of each ECS vector according to
frame can be expressed using complex vectors as (9) and (11) directly, for lots of trigonometric function computa-
dΨs tion are utilized. Therefore, to improve the predictive efficiency
V s = Rs is + (6) of the algorithm, this paper puts forward the following solutions
dt
on the basis of the novel vector synthesis method mentioned in
ψ s = Ls is + ψ r (7) Section II-A.
ZHOU et al.: TORQUE RIPPLE MINIMIZATION OF PREDICTIVE TORQUE CONTROL FOR PMSM WITH EXTENDED CONTROL SET 6933

Submitting (3) into (8) and (11), respectively, we can obtain TABLE II
RELATIONSHIP BETWEEN V m in , V su b −m in AND THE OPTIMUM SECTOR
⎡ ⎤

τψ τψm τψn
⎣ ⎦= + dn (14) Sector V m in V s u b −m i n Sector V m in V s u b −m i n
τt τtm τtn
I V1 V2 IV V4 V5
where τψm , τtm , τψn , and τtn represent τψ and τt of V m and V2 V1 V5 V4
II V2 V3 V V5 V6
V n , respectively. Furthermore, submitting (9) and (11) into (14) V3 V2 V6 V5
yields III V3 V4 VI V6 V1
V4 V3 V1 V6

⎡ ⎤
τψ |V s,m | cos (θv,m − θs )
=⎣ ⎦
τt 1.5pψ r
Ls |V s,m | sin (θ v,m − θ e )
 

M
λψ is the weight coefficient of stator flux, which regulates the
⎡ ⎤ flux control importance in the control process.
|V s,n | cos (θv,n − θs ) Using the exhaustive method to solve the problem of op-
+ dn ⎣ ⎦ (15) timization in (16), we can obtain the vector V m in and vec-
1.5pψ r
|V s,n | sin (θv,n − θe )

Ls

 tor V sub−m in from the six active vectors, which make J1
N minimum and subminimum, respectively. From Fig. 1(b), the
where |V s,m |, |V s,n |, θv,m , and θv,n represent the modulus
and phase angle of V m and V n , respectively. From Table I,
V m , V n ∈ V 1 , V 3 , V 5 . Hence, in each control period, τψ
and τt can be determined rapidly according to (15), only coef-
ficients M and N corresponding to V 1 , V 3 , and V 5 need to be
calculated in advance, and then, the torque and flux in the future
time can be predicted by submitting τψ and τt into (12) and (13).
III. PREDICTIVE TORQUE CONTROL WITH EXTENDED
CONTROL SET
Combined with the contents of the last section, a modified
ECS-PTC is proposed in this section. In the proposed algorithm,
the optimal output vector and its three-phase duty cycles are
determined by using two steps.
Step 1: By using the cascaded optimization algorithm, the
optimal vector satisfying the control goal of flux and torque is
selected from ECS.
Step 2: The amplitude of the selected ECS vector is opti-
mized further to improve the control precision of torque and
flux, and then, reduce the torque ripples of the motor in steady
state.
A. Determine the Optimal ECS Vector
From Section II-A, when selecting the optimal vector from
ECS, the sector of the optimal ECS vector should be determined
first. Hence, we introduce the following optimization problem:
λψ TN2
min J1 = [Tref − Tep (k + 1)]2 + [ψref − ψsp (k + 1)]2
Vi ψr2
s.t. Tep (k + 1) = Te (k) + τt,i Ts + τ0 Ts + Et (k)
ψsp (k + 1) = ψs (k) + τψ,i Ts + Eψ (k) ,
i = 1, 2, ..., 6
where Tref and ψref represent the reference torque and stator
flux, respectively; τψ,i and τt,i represent the τψ and τt of six
active vectors, respectively; TN is the rated torque of the motor;
boundary of the sectors is the six active vectors. Obviously,
the boundary vectors of the sector corresponding to the op-
timal ECS vector would have better control effect than other
active vectors. Therefore, we can determine the sector of
the optimal ECS vector according to V m in, V sub−m in , and
Table II.
The next step is to calculate dn corresponding to the optimal
ECS vector, and the relevant optimization problem is defined as
follows:
λψ TN2
min J2 = [Tref − Tep (k + 1)]2 + [ψref − ψsp (k + 1)]2
dn ψr2
s.t. Tep (k + 1) = Te (k)+τtm Ts + dn τtn Ts + τ0 Ts + Et (k)
ψsp (k + 1) = ψs (k) + τψm Ts + dn τψn Ts + Eψ (k)
1 2
dn = 0, , , ..., 1 (17)
Nv + 1 Nv + 1
where τψm , τtm , τψn , and τtn are values of τψ and τt correspond-
ing to V m and V n , respectively, their values can be calculated
by Table I and (15).
To obtain the dn corresponding to optimal ECS vector, the
optimization problem presented in (17) needs to be solved by
exhausting Nv + 2 times.
After determining the sector and dn , the optimal ECS vector
can be selected from (5). Obviously, with the increase of the
number of virtual vectors, the number of candidate vectors in
ECS will increase. Thus, the control performance of torque and
flux will be improved, but the times of exhaustion will be also
increased accordingly.
B. Amplitude Optimization of Vectors in ECS
(16) Among all the ECS vectors, the optimal ECS vector has the
most suitable control effect of torque and flux. However, if the
zero vector is added into the optimal ECS vector, which is uti-
lized to adjust the amplitude of the optimal ECS, then the torque
and flux control effect will be improved further. Therefore, the
6934 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 64, NO. 9, SEPTEMBER 2017

following optimization problem is defined as

λψ TN2
min J3 = [Tref − Tep (k + 1)]2 + [ψref − ψsp (k + 1)]2
d0 ψr2
s.t. ψsp (k + 1) = ψs (k) + (1 − d0 ) (τψm + dn τψn ) Ts
+ Eψ (k)
Tep (k + 1) = Te (k) + (1 − d0 ) (τtm + dn τtn ) Ts
+ τ0 Ts + Et (k) d0 ∈ [0, 1] (18)
where d0 is the duty ratio of a zero vector. The above optimiza-
tion problem is a typical quadratic optimization problem, and
its explicit solution is
Λ1 τψ + Λ2 τt
d0 =   , d0 ∈ [0, 1] (19)
τψ2 + τt2 Ts

where
τψ = τψm + dn τψn ;
τt = τtm + dn τtn ;
Fig. 2. Determination process of three-phase duty cycle in sector I. (a)
Λ1 = −ψref + ψs (k) + (τψm + dn τψn ) Ts + Eψ (k) ; Optimum vectors in ECS. (b) Optimum vectors after amplitude adjust-
ment.
Λ2 = −Tref + Te (k) + (τtm + dn τtn ) Ts + τ0 Ts + Et (k) .
The appropriate d0 can be determined according to the oper-
TABLE III
ational condition of motor by (19). By adding the zero vector DETERMINATION OF THREE-PHASE DUTY CYCLES
whose duty ratio is d0 into the optimal ECS vector, the am-
plitude of the optimal ECS vector is optimized to obtain more
Sector dA dB dC
stable torque control performance.
However, after optimizing the amplitude of the ECS vector, I 1 − d 0 (1 − d n ) dn d0 dn
II dn 1 − d 0 (1 − d n ) d0 dn
the three-phase duty ratios cannot be determined according to III d0 dn 1 − d 0 (1 − d n ) dn
(4) directly, but according to the symmetry of sectors and the IV d0 dn dn 1 − d 0 (1 − d n )
vector synthesis method mentioned in Section II-A, the three- V dn d0 dn 1 − d 0 (1 − d n )
VI 1 − d 0 (1 − d n ) d0 dn dn
phase duty ratios can still be determined by using dn and d0 .
Concrete implementation is as follows.
Assuming the optimal ECS vector determined by (16) and
(17) locates in the sector I, and its corresponding dn is obtained. the optimal vector from ECS, and the final stage is to optimize
Then, the three-phase duty ratios of the optimal ECS vector are the amplitude of the optimal vector and determine the three-
shown in Fig. 2(a). phase duty ratios according to Table III. The flowchart of this
According to Fig. 2(a) and the volt–second balance principle, cascaded optimization algorithm is shown in Fig. 3.
the optimal vector can be synthesized by the V 2 and V 1 whose Combining with the above flowchart, the control block dia-
duty ratios are dn and (1 − dn ), respectively. Thus, the zero gram of ECS-PTC is shown in Fig. 4.
vector can be added into the switch combination in Fig. 2(a)
according to the following two parts: 1) add V 0 (0 0 0) with
duty ratio d0 (1 − dn ) into V 1 , and then, the duty ratio of V 1 IV. EXPERIMENTAL VERIFICATION
is reduced to (1 − d0 )(1 − dn ); 2) add V 7 (1 1 1) with duty To verify the practicability and validity of ECS-PTC, the ex-
ratio d0 dn into V 2 , and then, the duty ratio of V 2 is reduced periments are carried out on a 6-kW PMSM. The parameters of
to (1 − d0 ) dn . After the above procedures, from Fig. 2(b), it the motor are given in Table IV. In the experimental test bench,
can be seen that the duty ratio of A-phase is equal to the sum a TMS320F28335 digital signal processor (DSP) is employed
of the duty ratios of V 1 , V 2 , and V 7 , namely 1 − d0 (1 − dn ); for algorithm implementation, and the sampling tasks of ac-side
the duty ratio of B-phase is equal to the sum of the duty ratios of currents and dc-side voltage are also accomplished by DSP. Be-
the V 2 and V 7 , namely dn ; the duty ratio of C-phase is equal to sides, the load is a 11.2-kW induction motor controlled by S120
the duty ratio of V 7 , namely d0 dn ; when the optimal ECS vector produced by Siemens.
locates in other sectors, the three-phase duty ratios dA , dB , and For the reduction of idling loss, we set the reference value of
dC are shown in Table III. flux ψref = ψr in the following experiments. Meanwhile, the
In summary, the optimization algorithm for ECS-PTC needs electromagnetic torque and flux ripples are evaluated by means
three stages to implement, the first two stages are used to select of their respective standard deviation σψ and σT , which can be
ZHOU et al.: TORQUE RIPPLE MINIMIZATION OF PREDICTIVE TORQUE CONTROL FOR PMSM WITH EXTENDED CONTROL SET 6935

Fig. 3. Flowchart of the cascaded optimization algorithm of ECS-PTC.

Fig. 5. Tracking performance of ECS-PTC in dynamic.

expressed as


 1 
n 2
1 
n
σx =  (xi − x) , x = xi (20)
n − 1i = 1 ni=1

where n is the number of samples. e.g., n = 6 × 104 in this

paper.
The average switching frequency fav of 2L-VSI is calculated
by the following equation:
Fig. 4. Control block diagram of ECS-PTC. Nsw
fav = (21)
6Tm
TABLE IV where Nsw is the total switching instants of all the inverter legs
PMSM PARAMETERS
during a fixed period Tm , e.g., Tm = 1 s in this paper.

Parameter symbol value

A. Tacking Performance of ECS-PTC
Rated power PN 6.0 kW Fig. 5 shows the experimental waveforms of ECS-PTC in the
Number of pole-pairs p 8
Rated speed nN 300 r/min dynamic state. In the experiments, PMSM works at 100 r/min
Rated torque TN 192 Nm and the load is 50 Nm. Then, the reference speed becomes
Rated current IN 11.8 A 200 r/min abruptly. Finally, the load torque is increased to
Permanent-magnet flux ψr 0.9031 Wb
Stator resistance Rs 0.76 Ω 100 Nm abruptly. It can be seen that the torque and stator
Stator inductance Ls 13 mH flux can accurately track their references without overshoot or
DC-bus voltage Ud c 580 V cross-coupling effects. It can be seen that the proposed ECS-
PTC has good trackability.
6936 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 64, NO. 9, SEPTEMBER 2017
Fig. 6. Experimental waveforms of torque, flux modulus, and a-phase
stator current for FCS-PTC in static state with T s = 50 μs.
B. Steady Performance Comparison of FCS-PTC With
ECS-PTC
Figs. 6 and 7 show the experimental waveforms of FCS-PTC
and ECS-PTC in the static states, respectively. Table V shows the
relevant experimental conditions and results in the experiments.
It can be found that in FCS-PTC, the ripples of the torque
and flux are significant and stator current distortion is more
severe, as shown in Fig. 6. In Fig. 7, ECS-PTC can reduce the
ripples of the torque and flux, and the stator current distortion
can be improved significantly. Therefore, these experimental
results verify that ECS-PTC can obtain better performance than
FCS-PTC.
C. Impact of Ts , λψ , Ls , and Nv on ECS-PTC
Fig. 8 shows the ECS-PTC control performance of torque
and flux with different Ts , λψ , Ls , and Nv . The relevant exper-
imental conditions and results are summarized in the Table V.
In the experiments, the motor works at 100 r/min and the load
is 100 Nm.
Fig. 8(a) shows the ECS-PTC control performance of torque
and flux with different Ts . Comparing Figs. 8(a) with 7, it can
be seen that with the decrease of Ts , the average switching
frequency fav will be increased, so the values of σT , σψ , and
ITHD will be decreased, that means the torque ripples and the
distortion degree of the stator current will be improved.
Fig. 8(b) shows the ECS-PTC control performance of torque
and flux with different λψ . Comparing Fig. 8(b) with 7, it can
Fig. 7. Experimental waveforms of torque, flux modulus, and a-phase
stator current for ECS-PTC in static state with T s = 200 μs.
be seen that with the increase of λψ , the flux control turns into a
more important part in algorithm, so the value of σψ and ITHD
will be decreased. However, the value of σT will be increased
that means with the increase of λψ , the torque ripples will be
increased accordingly.
Fig. 8(c) shows the ECS-PTC experimental waveforms with
0.8Ls and 1.2Ls , respectively. Comparing Figs. 8(c) with 7, it
can be seen that the value of σT and σψ did not changed sig-
nificantly, which means torque and stator flux performance are
not affected by the parameter mismatch. Besides, the distortion
degree of the stator current did not become severer. The exper-
imental results show that ECS-PTC have parameter robustness
with the help of the proposed predictive model.
Fig. 8(d) shows the ECS-PTC control performance of torque
and flux with different Nv . Comparing Figs. 8(d) with 7, it can
be seen that with the increase of Nv , the number of candidate
vectors in ECS is increased, which could provide more control
freedom of torque and flux. So the value of σT and σψ will be
decreased, which means the torque ripples will be suppressed
and the distortion degree of the stator current will be improved
with the increase of Nv .
D. Efficiency Comparison of FCS-PTC With ECS-PTC
Table VI shows the execution time for solving optimization
algorithm of FCS-PTC and ECS-PTC, respectively. In the ex-
periments, the operating frequency of MCU is 150 MHz. The
statistical data in the table does not include the time consumed
ZHOU et al.: TORQUE RIPPLE MINIMIZATION OF PREDICTIVE TORQUE CONTROL FOR PMSM WITH EXTENDED CONTROL SET 6937

TABLE V
COMPARISON RESULTS OF FCS-PTC WITH ECS-PTC

Item FCS-PTC ECS-PTC

Fig. 6 Fig. 7 Fig. 8(a) Fig. 8(a) Fig. 8(b) Fig. 8(b) Fig. 8(c) Fig. 8(c) Fig. 8(d) Fig. 8(d)

Conditions Nv null 7 7 7 7 7 7 7 1 3
L s (m H) 13 13 13 13 13 13 0.8 × 13 1.2 × 13 13 13
λψ 1.0 1.0 1.0 1.0 0.8 1.2 1.0 1.0 1.0 1.0
T s (μs) 50 200 333.33 125 200 200 200 200 200 200
Results f av (kHz) 3.58 4.56 2.78 7.25 4.56 4.56 4.56 4.56 4.56 4.56
σT 6.9122 3.8792 5.9474 3.3048 4.2296 3.8423 4.1163 4.0478 4.5430 3.9894
σψ 0.0153 0.0123 0.0247 0.0076 0.0226 0.0137 0.0141 0.0131 0.0150 0.0130
I THD 8.25 4.54 8.67 2.86 8.21 4.87 6.75 4.07 5.705 4.73

Fig. 8. Experimental waveforms of torque, flux modulus, a-phase stator current, and harmonic spectrum of current for the ECS-PTC under the
condition of L s mismatch and different N v , T s , and λψ . (a) T s = 333.33 μs and T s = 125 μs; (b) λψ = 0.8 and λψ = 1.2; (c) 0.8L s and 1.2L s ; and
(d) N v = 1 and N v = 3.
6938 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 64, NO. 9, SEPTEMBER 2017
TABLE VI
EXECUTIVE TIME OF FCS-PTC AND ECS-PTC
Item Nv Executive Time (μs)
FCS-PTC null 11.572
ECS-PTC 1 4.56
2 4.90
3 5.25
4 5.59
5 5.93
6 6.28
7 6.62
in the AD sampling, speed measurement, and other auxiliary
programs (e.g., the estimation of stator flux, torque, etc.). From
Table VI, the execution time of ECS-PTC reduces by about 50%
comparing with FCS-PTC. This is because that ECS-PTC em-
ploys a predictive model with lower computational complexity
so that the computation load is greatly reduced. In addition,
when Nv adds 1 in ECS, the execution time of the algorithm
will be only increased about 0.4 μs, which indicates ECS-PTC
has excellent execution efficiency.
E. Switching Frequency Analysis
The first four columns of Table V show the comparative ex-
perimental results of ECS-PTC under different switching fre-
quency and FCS-PTC. In the experiments, the discrete control
period Ts of ECS-PTC is selected as 125, 200, and 333.33 μs,
respectively. The Ts of FCS-PTC is selected as 50 μs.
As for FCS-PTC, only one switching state is employed
within one control period, so its average switching frequency
(fav = 3.58 kHz) is relative low, even though the control pe-
riod (Ts = 50 μs) is short according to the arithmetic capabil-
ity of the embedded devices. However, the steady-state control
performance of FCS-PTC is still not good enough, as shown
in Table V.
According to Section III and Fig. 2, ECS-PTC will have three
different kinds of switching patterns in each discrete control
period.
Pattern I (dn = 0, 1; d0 = 0): The output vector selected
by ECS-PTC is the basic voltage vector (V 1 , V 2 , . . . , V 6 ),
and then, the switching states of IGBTs have no change in the
current control period. Under this situation, the switching pattern
of ECS-PTC is same as FCS-PTC, so it could also acquire the
excellent dynamic control performance just like FCS-PTC.
Pattern II (dn = 0, 1; d0 = 0 or dn = 0, 1; d0 = 0): The
output vector selected by ECS-PTC is the normal ECS vector
(which means the ECS vectors except for the basic vectors)
or the basic vector after zero-vector modulation, and then, the
switch states of IGBTs change twice in the current control pe-
riod, as shown in Fig. 2(a). Compared with FCS-PTC, ECS-PTC
will have a good control performance of torque and flux, while
high-voltage utilization ratio is guaranteed.
Pattern III (dn = 0, 1; d0 = 0): The output vector selected by
ECS-PTC is the normal ECS vector after amplitude adjustment,
and then, the switch states of IGBTs change six times in the
current control period, as shown in Fig. 2(b). Thus, the switching
pattern of ECS-PTC is similar to the classical space vector
modulation. This means each control period is divided into seven
segments, and the average effect time of each basic vector in
Fig. 2(b) is Ts /7 so that the excellent control performance of
torque and flux could be achieved.
In practical applications, ECS-PTC could choose above three
switching patterns freely to acquire a good balance between
the steady/dynamic performance and the switching frequency
of inverter. Then, it can be seen from the first four columns
of Table V that the torque and flux control performance of
ECS-PTC will be better than FCS-PTC obviously, although its
average switching frequency is slighter higher due to Patterns
II and III, when Ts = 125 and 200 μs, respectively. In contrast,
the average switching frequency of ECS-PTC (fav = 2.78 kHz)
will be lower than FCS-PTC when Ts = 333.33 μs, because
of the utilization of Patterns I and II. However, the control
performance of ECS-PTC is still better than FCS-PTC under
this relative low switching frequency, as the average effect time
of each basic vector in Pattern III is merely 333.33 μs/7 =
47.62 μs, which is still smaller than the discrete control period
of FCS-PTC (Ts = 50 μs).
V. CONCLUSION
This paper has proposed an ECS-PTC algorithm for a 2L-
VSI-PMSM drive system. Compared with FCS-PTC, the pro-
posed method builds an ECS to utilize more vectors in the
voltage complex plane; thus, the torque and flux control free-
dom and precision will be improved and guarantee the better
motor control performance. Besides, this paper had designed a
new method to synthesize the ECS vectors. With the help of this
method, a predictive model with lower algorithmic complexity
has been built, and the prediction and three-phase duty ratios
calculation of the output vector are merged in ECS-PTC. Com-
pared with FCS-PTC, ECS-PTC can reduce the torque ripples
effectively and guarantee good transient torque and flux control
performance, and it also has better execution efficiency.
REFERENCES
[1] G. Feng, C. Lai, and N. Kar, “A closed-loop fuzzy logic based current con-
troller for PMSM torque ripple minimization using the magnitude of speed
harmonic as the feedback control signal,” IEEE Trans. Ind. Electron., vol.
64, no. 4, pp. 2642–2653, Apr. 2017.
[2] S. K. Kommuri, M. Defoort, H. R. Karimi, and K. C. Veluvolu, “A robust
observer-based sensor fault-tolerant control for PMSM in electric vehi-
cles,” IEEE Trans. Ind. Electron., vol. 63, no. 7, pp. 7671–7681, Dec. 2016.
[3] C. L. Xia, Z. Zhou, Z. Wang, Y. Yan, and T. Shi, “Computationally efficient
multi-step direct predictive torque control for surface-mounted permanent
magnet synchronous motor,” IET Elect. Power Appl., to be published.
[4] C. Garcia, J. Rodriguez, C. Silva, C. Rojas, P. Zanchetta, and H. Abu-
Rub, “Full predictive cascaded speed and current control of an induction
machine,” IEEE Trans. Energy Convers., vol. 31, no. 3, pp. 1059–1067,
Apr. 2016.
[5] M. Tomlinson, H. T. Mouton, R. Kennel, and P. Stolze, “A fixed switch-
ing frequency scheme for finite-control-set model predictive control—
Concept and algorithm,” IEEE Trans. Ind. Electron., vol. 63, no. 12,
pp. 7662–7670, Nov. 2016.
[6] Y. Zhang and W. Xie, “Low complexity model predictive control—Single
vector based approach,” IEEE Trans. Power Electron., vol. 29, no. 10,
pp. 5532–5541, Oct. 2014.
ZHOU et al.: TORQUE RIPPLE MINIMIZATION OF PREDICTIVE TORQUE CONTROL FOR PMSM WITH EXTENDED CONTROL SET 6939

[7] Y. Zhang, W. Xie, Z. Li, and Y. Zhang, “Low-complexity model pre-
dictive power control: Double-vector-based approach,” IEEE Trans. Ind.
Electron., vol. 61, no. 11, pp. 5871–5880, Nov. 2014.
[8] D. Q. Mayne, J. B. Rawlings, C. V. Rao, and P. O. M. Scokaert, “Con-
strained model predictive control: Stability and optimality,” Automatica,
vol. 36, no. 6, pp. 789–814, Jun. 2000.
[9] T. Geyer, “Low complexity model predictive control in power electronics
and power systems,” Ph.D. dissertation, Inf. Technol. Elect. Eng., Swiss
Federal Inst. Technol., Zürich, Switzerland, 2005.
[10] A. Linder, R. Kanchan, R. Kennel, and P. Stolze, Model-Based Predictive
Control of Electric Drives. Göttingen, Germany: Cuvillier Verlag, 2010.
[11] K. Belda and D. Vosmik, “Explicit generalized predictive control of speed
and position of PMSM drives,” IEEE Trans. Ind. Electron., vol. 63, no. 6,
pp. 3889–3896, Jan. 2016.
[12] Z. Mynar, L. Vesely, and P. Vaclavek, “PMSM model predictive control
with field weakening implementation,” IEEE Trans. Ind. Electron., vol. 63,
no. 8, pp. 5156–5166, Aug. 2016.
[13] Y. Zhang and H. Yang, “Two-vector-based model predictive torque control
without weighting factors for induction motor drives,” IEEE Trans. Power
Electron., vol. 31, no. 2, pp. 1381–1390, Feb. 2016.
[14] X. Wang and D. Sun, “Three-vector based low-complexity model pre-
dictive direct power control strategy for doubly fed induction generator,”
IEEE Trans. Power Electron., vol. 32, no. 1, pp. 773–782, Feb. 2016.
[15] C. L. Xia, S. Wang, X. Gu, Y. Yan, and T. Shi, “Direct torque control
for VSI-PMSM using vector evaluation factor table,” IEEE Trans. Ind.
Electron., vol. 63, no. 7, pp. 4571–4583, Jul. 2016.
[16] C. L. Xia, S. Wang, Z. Wang, and T. Shi, “Direct torque control for
VSI–PMSMs using four-dimensional switching-table,” IEEE Trans Power
Electron., vol. 31, no. 8, pp. 5774–5785, Nov. 2016.
[17] J. Hu and Z. Q. Zhu, “Improved voltage-vector sequences on dead-beat
predictive direct power control of reversible three-phase grid-connected
voltage-source converters,” IEEE Trans. Power Electron., vol. 28, no. 1,
pp. 254–267, Jan. 2013.
[18] F. Niu, K. Li, and Y. Wang, “Direct torque control for permanent magnet
synchronous machines based on duty ratio modulation,” IEEE Trans. Ind.
Electron., vol. 62, no. 10, pp. 6160–6170, Apr. 2015.
[19] M. Siami, D. A. Khaburi, and J. Rodriguez, “Torque ripple reduction of
predictive torque control for PMSM drives with parameter mismatch,”
IEEE Trans. Power Electron., vol. 32, no. 9, pp. 7160–7168, Sep. 2017.
[20] M. Siami, A. Abbaszadeh, D. Arab Khaburi, and J. Rodriguez, “Robust-
ness improvement of predictive current control using prediction error
correction for permanent magnet synchronous machines,” IEEE Trans.
Ind. Electron., vol. 63, no. 6, pp. 3458–3466, Jun. 2016.
Zhanqing Zhou (S’17) was born in Ningxia,
China, in 1989. He received the B.S. and M.S.
degrees in electrical engineering from Tianjin
University, Tianjin, China, in 2010 and 2013,
respectively, where he is currently working to-
ward the Ph.D. degree in electrical engineer-
ing in the School of Electrical and Information
Engineering.
His research interests include electrical ma-
chines and their control systems, power elec-
tronics, and renewable energy systems.
Yan Yan was born in Tianjin, China, in 1981.
She received the B.S. and M.S. degrees in elec-
trical engineering from Tianjin University of Sci-
ence and Technology, Tianjin, in 2004 and 2007,
respectively, and the Ph.D. degree in electrical
engineering from Tianjin University, Tianjin, in
2010.
She is currently a Lecturer with the School of
Electrical and Information Engineering, Tianjin
University. Her research interests include design
and control of matrix converters for electric drive
applications and power converters for wind power generation.
Zhiqiang Wang (M’13) was born in Tianjin,
China, in 1984. He received the B.S. degree
in electrical engineering from Hebei University
of Technology, Tianjin, in 2002, and the M.S.
and Ph.D. degrees in electrical engineering from
Tianjin University, Tianjin, in 2008 and 2012,
respectively.
He is currently a Lecturer with the School
of Electrical Engineering and Automation, Tian-
jin Polytechnic University, Tianjin. His research
interests include electrical machines and their
control systems and power electronics.
Tingna Shi (M’13) was born in Zhejiang, China,
in 1969. She received the B.S. and M.S. degrees
in electrical engineering from Zhejiang Univer-
sity, Hangzhou, China, in 1991 and 1996, re-
spectively, and the Ph.D. degree in electrical en-
gineering from Tianjin University, Tianjin, China,
in 2009.
She is currently a Professor with the School
of Electrical and Information Engineering,
Tianjin University. Her current research interests
include electrical machines and their control sys-
tems, power electronics, and electric drives.

Changliang Xia (SM’12) was born in Tianjin,

China, in 1968. He received the B.S. degree
in electrical engineering from Tianjin University,
Tianjin, China, in 1990, and the M.S. and Ph.D.
degrees in electrical engineering from Zhejiang
University, Hangzhou, China, in 1993 and 1995,
respectively.
He is currently a Professor with the School of
Electrical and Information Engineering, Tianjin
University, and also with the Tianjin Engineering
Center of Electric Machine System Design and
Control, Tianjin Polytechnic University, Tianjin. In 2008, he became a
“Yangtze Fund Scholar” Distinguished Professor and is currently sup-
ported by the National Science Fund for Distinguished Young Scholars.
His research interests include electrical machines and their control sys-
tems, power electronics, and control of wind generators.