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Servo drives and drives for position control require a high dynamic on speed control. In this paper, model predictive direct speed control (MP-DSC) is proposed, which overcomes limitations of cascaded linear controllers. The novel concept predicts the future current and speed states in discrete steps and it selects plant inputs which depends mainly on the predicted speed error. Secondary control objectives, such as maximum torque per ampere tracking are included. MP-DSC uses the finite control set approach which makes it suitable for online predictions with a prediction horizon of a few sample periods. The concept has been developed by simulation and evaluated on an experimental test bench. The overall control behavior is evaluated applying reference and disturbance steps to the system, where MP-DSC shows promising results. A solution for disturbance (e.g., load toque) rejection is proposed, and the effectiveness to avoid control offsets is shown. Furthermore, the dynamic performance and the steady-state behavior of MP-DSC is evaluated and discussed.
Preindl et al. (Tue,) studied this question.