Deadbeat Predictive Disturbance Compensation Control For Permanent Magnet Synchronous In-wheel Motor

The global low-carbon development goal and the threat of energy security require the transformation and upgrading of fuel vehicles as soon as possible.Thus,energy-saving and environmentally friendly electric vehicles have become an inevitable trend.PMSM is widely applied in the electric vehicles due to its wide speed range,high peak efficiency and stable torque.Therefore,the high performance control scheme of PMSIM is a crucial research direction.With the support of National Natural Science Foundation of China(51875261)and Jiangsu Outstanding Youth Foundation Project(BK20180046),some studies on the PMSIM mathmatical model,novel PMSIM control methods are carried out,and the effectiveness is verified through theoretical derivation,simulation and experiment.The research contents mainly include:(1)Two coordinate transformations based on decoupling idea are expatiated,and the mathematical models of PMSIM in three different coordinate systems are deduced.Meanwhile,the principle of space vector pulse width modulation technology is revealed.(2)A deadbeat predictive stator flux disturbance compensation control(DSDCC)based on the reduced order disturbance observer(RODO)is proposed to address the problems of steady state tracking error and robustness reduction caused by parameter mismatch and disturbance.The sensitivity of traditional deadbeat predictive current control to parameter mismatch is analyzed.The RODO based on disturbance state variables is designed to compensate the one-step delay and stator voltage,and the dynamic performance of PMSIM can be effectively improved.The superiority of DSDCC+RODO strategy is verified by theoretical proof and simulation.(3)The disturbance caused by parameter mismatch will seriously affect system performance.In view of this problem,a deadbeat predictive current disturbance compensation control(DCDCC)based on sliding-mode double-loop disturbance observer(SDDO)is proposed.The uncertain disturbance is considered in the PMSIM mathematical model,and a SDDO is constructed to estimate the disturbances in the speed and current loops to improve the dynamic accuracy of current tracking.In addition,the nonlinearity of voltage source inverter(VSI)is compensated,and the current distortion caused by dead time is weakened.The effectiveness of SDDO+DCDCC strategy is verified by theoretical proof and simulation.(4)On the basis of rapid control prototype,the software and hardware experiment platform of PMSIM is constructed.Moreover,relevant experiments are carried out to verify DSDCC+RODO strategy and SDDO+DCDCC strategy.The experimental results depict that the disturbance compensation based deadbeat predictive control strategy can effectively eliminate the influence of parameter mismatch and load mutation,and improve the robustness and dynamic tracking performance of the system.