Available online at www.sciencedirect.

com

ScienceDirect
Model Predictive Control and Higher Order Sliding IFAC PapersOnLine 55-22 (2022) 195–200

Mode
ModelControl for Control
Predictive Optimized
andand Robust
Higher Control
Order of
Sliding
PMSMand Robust Control of
Mode Control for Optimized
Shweta
Shweta B.
PMSM
B. Gunjal
Gunjal Dr. Sadhana
Dr. Sadhana V. Jadhav
Shweta B. Gunjal Dr. Sadhana V.V. Jadhav
Jadhav
Electrical
Electrical Department
Department (Embedded
(Embedded
Electrical Department (Embedded Electrical
Electrical Department (Embedded
Electrical Department (Embedded
Department (Embedded
Control
Control System)
Control System)
System) Control
Control System)
Control System)
System)
College
College
College of
of Engineering,
of Engineering,
Engineering, Pune
Pune College
College of
of Engineering,
of Engineering, Pune
Pune
Shweta
Shweta
Pune,
Pune,
B. Gunjal Pune
Gunjal
B.India
India
College
Dr. Engineering,
Dr. Sadhana
Sadhana
Pune,
Pune,
V.
V. Jadhav
India
India
Pune
Jadhav
Electrical
Electrical Pune, India
Department (Embedded
Department (Embedded Electrical
Electrical Pune, India
Department (Embedded
Department (Embedded
[email protected]
[email protected]
[email protected] [email protected]
[email protected]
Control
Control System)
System) [email protected]
Control
Control System)
System)
College
College of
of Engineering,
Engineering, Pune
Pune Control (MPC) applie d to College
College of
of Engineering,
Engineering, Pune
Pune
Abstract—
Abstract—Pune,
Abstract— Model
Model
India
Model Predictive
Predictive
Predictive Control (MPC)
Control (MPC) applie
applie d d toto for
for the
for the current
the current control
current control [10]
control [10] of
[10] of the
of the system.
the system. And,
And,
Pune,
system. SMC
SMC algorithm
India
And, SMC algorithm
algorithm
Pune, India Pune, India
Permanent
Permanent
Permanent Magnet
Magnet Synchronous
Magnet Synchronous Motors
Synchronous
[email protected]
[email protected] Motors (PMSM)
Motors (PMSM) based
(PMSM) based drives
based drives
drives is
is employed
is employed for
employed for the
for the speed
the speed loop
speed loop of
loop of the
the drive.
the drive. SMC
drive. SMC is
[email protected]
of SMC
[email protected] is aaa non-
is non-
non-
is
is being
is being researched
being researched recently.
researched recently. Practical
recently. Practical drive
Practical drive systems
drive systems have
systems have non-
have non-
non-linear
linear control
linear control which
control which is
which is simple
is simple but
simple but fast
but fast and
fast and it
and it offers
it offers robustness
offers robustness
robustness
linarites
linarites like saturation,
like saturation,
saturation, not-exact decoupling
not-exactControl
decoupling of d
of d and
d and
and q
qd axes
axesto
to internal
internal and
and external
external disturbances
disturbances [11].
[11]. It
It suffers
suffers from
from thethe
linarites like
Abstract—
Abstract— Model
Model not-exact
Predictive
Predictive decoupling
Control (MPC)
(MPC)of applie
applieq axes
d for
to internal
to
for
to the current
the current control
andcontrol
external [10]
[10] of
disturbances the
of the system. system. And,
[11].And, SMC
It suffers algorithm
from
SMCinaccurate
algorithmthe
fluxe
fluxes,s, etc.
etc. Further
Further there
there are
are disturbances
disturbances also.
also. MPC
MPC guarantees
guarantees undesirable chattering phenomena which may cause
fluxes,
Permanent
Permanent etc. Further
Magnet
Magnet there are
Synchronous
Synchronous disturbances
Motors
Motors also.
(PMSM)
(PMSM) MPC guarantees
based
based drives
drivesundesirable
undesirable
is
is employed
employed chattering
chattering
for
for the the phenomena
phenomena
speed
speed loop
loop ofand of which
which
the may
may
drive.
the drive. cause
cause
SMC inaccurate
inaccurate
is a
SMC is a non- non-
the robust stability and performance. The strategy is used for
control, increased losses and
thebeing
the
is
is
robust
robust
being
stability and
stability
researched
researched
and performance.
performance.
recently.
recently. Practical
Practical
The strategy
The
drive
drive
strategy is used
usednon-
systemsishave
systems have
for
non-control,
for
control,
linear
linear increased
increased
control
control which
which losses
losses is
is and wear
and
simple
simple wear
wear but
but and tear
and
fast
fast tear
tear
and
and
of
of
of
it
it
mechanical
mechanical
mechanical
offers
offers
parts
parts
parts
robustness
robustness
decoupled
de coupled current
current control
control of
of PMSM.
PMSM. Additionally
Additionally optimized
optimized [12]. Many researchers have attempted various solutions for
de coupled
linarites
linarites current
like
control voltage
voltage
control
saturation,
like saturation,
vector is
of
not-exact PMSM.
not-exactto
is calculated
calculated
Additionally
decoupling
todecoupling
yield be
be st of d
st energy
energy
optimized
and
of d and q axes
q axes
efficiency.
[12].
to
[12].
to Many
internal
Manyand
internal researchers
and external
researchers
external have
disturbances
have attempted
disturbances attempted [11].
[11]. various
It solutions
suffers
various
It bandwidth
suffers from
solutions for
the
for
fromfilter
the
control
control voltage vector
vector is calculated to yield
yield be st energy efficiency.
efficiency.the
the aforementioned
aforementioned issue.
issue. In
In [13],
[13], variable
variable bandwidth filter
fluxes,
fluxes,
This paperetc.
etc. Further
Further
proposes there
there
MPC are
arefor disturbances
disturbances
current loop also.
also.
of MPC
MPC
the guarantees
guarantees
drive. In orderundesirable
the aforementioned
undesirable chattering
chattering phenomena
issue.
phenomena In [13],which which
variablemay cause
maybandwidth inaccurate
cause inaccuratefilter
Thisrobust
This paper proposes
paper proposes MPC
MPC for current
for current loop
loop ofstrategy
of the drive.
the drive. In orderwas
was introduced to reduce the
the chattering effect.
effect. Another
the
the
to
to robust
have
have
stability
stabilityin
simplicity
simplicity in
and
and
the
the
performance.
performance.
ee ntire
ntire system,
system,
The
The
the
the strategy
outer
outer is In
is
speed
speed
used
usedorder
loop
loop
for
was
control,
for
control,
is
is
introduced
introduced
increased
increased tolosses
to losses reduce
reduceand
and the
wear
wear chattering
chattering
and
and tear
tear of
of effect.
mechanical
mechanical Another
Another
parts
parts
to
de
de have
coupled
coupled simplicity
current
current in the
control
control e ntire
of
of system,
PMSM.
PMSM. the outer
Additionally
Additionally speed loop
optimized
optimized attempts
is
attempts
attempts
[12]. Many of
of
of reducing
reducing
reducing
researchers the
the
the
have chattering
chattering
chattering
attempted is
is
is to
to
to
variousdesign
design
design various
various
various
solutions for
controlled
controlled
controlled by Higher
by Higher
by Higher O rde r
O calculated
O Sliding
rde rr Sliding
rde Sliding Mode Control
ModebeControl
Mode Control (HOSMC).
(HOSMC).
(HOSMC). [12].
reaching Many laws.researchers have attempted various solutions for
control
control voltage
Supe rrr Twisting
Supe Twisting
vector
voltage vector is
is calculated
Algorithm
Algorithm (STA) to
(STA)
to
is
yield
is yield
usedbe
used
st energy
st energy
for
for
efficiency.
efficiency.
reduction
reduction in the
in
reaching
the
reaching
the
the aforementioned
aforementionedlaws. As
laws. As an
As an
an example,
example,
issue.
example,
issue. In
In [13],
[13],
it
it is
it is shown
isvariable
shown
variable
in
in [14]
shown bandwidth
in [14] that
[14]
bandwidth that the
thatfilter
the
the
filter
Supe
This
This Twisting
paper
paper Algorithm
proposes
proposes MPC
MPC (STA)
for
for is
current
current used
loop
loop for
of
of reduction
the
the drive.
drive. Inin
In the
order
orderexponential
exponential reaching
reaching law can
law can
canthe reduce
reduce chattering
chattering significantly.
significantly.
chattering.
chattering.
chattering. Simulations
Simulations
Simulations show
show that
that the
the proposed
proposed control
control skills
skills exponential
was
has
was
has introduced
introduced reaching to
to reduce law
reduce the reduce chattering
chattering
chattering significantly.
effect.
effect. Another
Another
to
to have
riorsimplicity
have
supe simplicity
performancein theshow
in the thatsystem,
ee ntire
ntire
compare
the proposed
system,
to convethe control
outer
the ntional
conve outer
ntional speed
speedskills
loophas
loop
PI control
control Disturbance
is
Disturbance
is
Disturbance
attempts of observer
observer
observer
reducing is
is
is also
also
also
the aaa good
chatteringgood
good option
option
option
is to that
that
that offers
offers
offers
design better
better
better
various
supe
supe rior
rior
controlled performance
performance
by Higher O compare
compare
rde to
to
rr Sliding conve
Mode ntional
Control PI
PI control
(HOSMC). attempts
performance of reducing
as compared the to chattering
the simple is
SMC to design
[15-16]. various
Slightly
controlled
algorithm.
algorithm.
algorithm.
by Higher O rde Sliding Mode Control (HOSMC). performance
performance
reaching
reaching Adaptive laws. as
as
laws. As anAscompared
compared an to
to
example,
example, the
the simple
simple
it is
it is shown SMC
SMC
shown [15-16].
[15-16].
in [14] Slightly
Slightly
that
in [14] that the
the
Supe
Supe rr Twisting
Twisting Algorithm
AlgorithmMagnet
Keywords—Permanent (STA) is
is used
used for
(STA) Synchronous
Magnet Synchronousfor reduction
reduction
Motor in
in the
(PMSM), complex
complex Adaptive
the
exponential Adaptive
reaching Integral
Integral
law can Sliding-Mode
Sliding-Mode
reduce Predictive
Predictive
chattering Control
Control
significantly.
Copyright © 2023 The Authors.
Keywords—Permanent
Keywords—Permanent
chattering. Simulations showMagnet
thatThis is an opencontrol
Synchronous
the proposed
Motor
Motor articlehas
access(PMSM),
(PMSM),
skills
complex
exponential
(AISMPC) reaching
[17] and
Integral
law can
Integral
Sliding-Mode
reduce
Sliding Mode
Predictive
chattering
Control
Control
significantly.
[18] can
chattering.
Higher Order Simulations
Sliding Modeshow that
Control the proposed
(HOSMC), control
Model skills has
Predictive (AISMPC) [17] [17] and Integral Integral aaSliding Mode Control
Control [18]better
can
Higher
Higher
supe the
underrior Order
Order BY-NC-ND
CC Sliding
Sliding
performance Modelicense
Mode Control (HOSMC),
Control (HOSMC), Model Predictive
Model Predictive (AISMPC)
Disturbance
Disturbance observer
observer and is
is also Sliding
also good
good Mode
option
option that
that [18]
offers
offers can
better
supe rior
Control performance compare
(MPC). compare to to conve
conve ntional
ntional PIPI control
control handle the chattering problem. Higher Order Sliding Mode
(https://creativecommons.org
Control
Control
algorithm. (MPC).
(MPC). /licenses/by-nc-nd/4.0/) handle
handle
performance
performance the
the chattering
chattering
as compared
as compared problem.
problem.
to
to the the Higher
Higher
simple
simple Order
Order
SMC Sliding
Sliding
[15-16].
SMC [15-16]. Mode
Mode
Slightly
Slightly
algorithm. Control
Control [HOSMC]
Control
complex [HOSMC]
[HOSMC]
Adaptive is
is
is
Integralproved
provedSliding-Mode
proved to
to be
to be effective
be effective
effective [19-20]. Among
[19-20]. Control
[19-20].
Predictive Among
Among
Keywords—Permanent I. Magnet
Magnet Synchronous
Synchronous MotorMotor (PMSM), complex Adaptive Integral Sliding-Mode Predictive Control
Keywords—Permanent
Higher I. IIINTRODUCTION
I. NTRODUCTION
NTRODUCTION
(PMSM), various
various
(AISMPC)
various HOSMC
HOSMC
HOSMC [17] strategies,
strategies,
and
strategies, Integral Super
Super
Sliding
Super Twisting
Twisting
Mode
Twisting Algorithm
Algorithm
Control
Mode Algorithm
(STA)
(STA)
[18] can
(STA)
Higher Order
Order Sliding
Sliding Mode
Mode Control
Control (HOSMC),
(HOSMC), ModelModel Predictive
Predictive (AISMPC)
is simple and [17]effectiveand Integral
[21-23]. Sliding Control [18] can
In
In today’s
In
Control
Control today’s
today’s
(MPC). scenario
scenario of
(MPC). scenario of AC
of AC drives ,,, Permanent
AC drives
drives Permanent Magnet
Permanent Magnet
Magnet is
is
handle
handle simple
simple
This
the
theand
and
paper
effective
effective
chattering
chattering [21-23].
[21-23].
problem.
problem. Higher
Higher Order
Order Sliding
Sliding Mode
Mode
Synchronous
Synchronous Motors
Synchronous Motors (PMSM)
Motors (PMSM) are
(PMSM) are being
are being preferred
being preferred over
preferred over
over Control
Control This [HOSMC]
This paper proposes
paper
[HOSMC] proposes
proposes is
isfor
an
an MPC
an
proved
proved MPC
MPC to be
todrive.
be
control
control
control
effective
effective
algorithm
algorithm
algorithm
[19-20].
[19-20].
combined
combined
combined
Among
Among
induction motors.
induction motors.
motors. PMSMPMSM
PMSMI. I has main
NTRODUCTION
I. INTRODUCTION
has main advantages
main advantages
advantages of of good
of good power
good power
power with
with
with STA-HOSMC
various STA-HOSMC
STA-HOSMC
HOSMC for
for PMSM
strategies, PMSM
PMSM Super drive.
drive.TwistingThe
The paper
paper
The paper is
is presented
is
Algorithm presented
presented
(STA)
induction has various
as follows. HOSMC Section strategies,
II describes Super the Twisting Algorithm
continuous-time (STA)
model
factor
factor
In
factor and
and
and high
high
today’s
high power
power
scenario
power density.
density.
of AC
density. With
With the
the
drives
With the , introduction
introduction
introduction
Permanent of
of
of Field
Field
Field
Magnet assimple
is
as follows.
follows. and Section
effective
Section II describes
II describes
[21-23]. the continuous-time
the continuous-time model model in in
in
In today’s scenario of AC drives , Permanent Magnet is
d-q simpleaxis and effective
reference frame, [21-23]. which is used for the design of
Oriented
Oriented
Oriented
SynchronousControl
Control
Control
Motors(FOC)
(FOC) technique
technique
(FOC)(PMSM)
techniqueare [1],
[1], the
the
[1], being research
research
the research in
in modern
modern
in modern
preferred over d-q
d-q axis
axis
This
This paper reference
reference
paper proposes
proposes frame,
frame, an which
which
MPC
an MPCofcontrol is
is
controlused
used for
for
algorithmthe
the
algorithmfor design
design
combined
combined of
of
Synchronous
control Motors
algorithms for (PMSM) are being preferred over HOSMC.
HOSMC. In
In section
sectionfor III design
III PMSM
design drive. of STA-HOSMC
STA-HOSMC PMSM
forpresented
PMSM
control
induction
control
induction algorithms
motors. PMSM
algorithms
motors. for AC
for
PMSM AC
AChas drives
mainhas
drives
has
drives
main has
has been
been accelerated.
been
advantages
advantages accelerated.
of good
of good power
accelerated. The
The
power
The HOSMC.
with
with
speed
STA-HOSMC
STA-HOSMC
control
In section
is presented. for III design
PMSM MPC
of
drive. STA-HOSMC
control
The
The paper
paper
design is
for
is
is PMSM
presented
illustrated in
machine
machine
machine can
can
can be controlled
be controlled
be controlled easily to
easilyWith
easily decouple
to decouple
to decouple torque and
torque and
torque and speed.
speed. speed
as
speed follows. control
control is
Section presented.
is presented. II describesMPC
MPCthe control
the
control design
continuous-time is illustrated
model
design is illustrated in
factor
factor
Two
and
and high
high
independent
power
powerinner
density.
density.
loops With
control
the
the
the
introduction
introduction
torque by ofspeed.
of
using
Field
Field
q-
as
section
section
follows. IV.
IV.
Section
Results
Results
II describes
and
and conclusions
conclusions
continuous-time
are
are reported
reported in
in
modelV.
section
section
in
V.
Two
Two independent
independent
Oriented
Oriented Control
Control inner loops
inner technique
(FOC)
(FOC) loops control
control
technique the
[1], the
[1], the torque by
torque byin
research
research using
inusing
modern
modern q-
q- section
d-q axis IV. Results
reference and
frame,
d-q axis reference frame, which is used for the design of conclusions
which is are
usedreported
for in
the section
design V.
of
and
and
and d-axis
d-axis
d-axis stator
stator currents,
stator currents,
currents, respectively
respectively
respectively and
and the
the outer
the outer closed
outer
and accelerated. closed
closed HOSMC.
HOSMC. In section
In II.
section III
III design
design of STA-HOSMC
STA-HOSMC for for PMSM
control
control
loop
algorithms
algorithms
controls the
for
for
rotor
AC
AC
speed.
drives
drives
The
has
has been
been
performance accelerated.
of PI
The
The
control II.
II. PMSM
PMSM
PMSM M
MMPC
M ODELof
ODEL
ODEL
D
DESCRIPTION
D ESCRIPTION
ESCRIPTION
PMSM
loop
loop controls
controls
machine
machine can
can the
the
be
be rotor
rotor
controlled
controlled speed.
speed. The
The
easily
easily to
to performance
performance
decouple
decouple of
of
torque
torque PI
PI
and
andcontrol
control
speed.
speed. speed
speed control
control is
is presented.
presented. MPC control
control design
design is
is illustrated
illustrated in
in
deteriorates
deteriorates
deteriorates while
while
while handling
handling
handling various
various
various operating
operating
operating conditions
conditions
conditions like
like
like A
section
A well-known
A well-known
IV.
well-known Results time-invariant
and conclusions
time-invariant
time-invariant model
are
model
model of
reported
of
of inPMSM
section
PMSM
PMSM in
V.
in
in
Two
Two independent
independent inner
inner loops control
loops control the torque by using
the torque byparameter
using q-q- section IV. Results and conclusions are reported in section V.
fast
fast
fast
and changes
changes
changes
d-axis in
in load,
in
stator load,
load, occurrences
occurrences
occurrences
currents, of
of disturbances,
of
respectivelydisturbances,
disturbances,
and the parameter
parameter
outer closed synchronously
synchronously
synchronously rotating
rotating
rotating stator
stator
stator flux
flux reference
fluxDreference
reference frame
frame
frame is is given
is given
given by:by:
by:
and d-axis stator currents, respectively and the outer closed 𝑑𝑑𝑖𝑖
𝑣𝑣 = 𝑅𝑅𝑅𝑅 + 𝐿𝐿 . 𝑑𝑑𝑖𝑖 𝑑𝑑𝑑𝑑
− 𝜔𝜔 𝑖𝑖 𝐿𝐿
II. PMSM M
𝑣𝑣 = 𝑅𝑅𝑅𝑅 + 𝐿𝐿 . 𝑑𝑑𝑖𝑖
− 𝜔𝜔 𝑖𝑖 𝐿𝐿
uncertainties, non-linarites etc. So the recent controllers 𝑑𝑑𝑑𝑑
ODEL ESCRIPTION
𝑣𝑣𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 = 𝑅𝑅𝑅𝑅𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 + 𝐿𝐿𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 . 𝑑𝑑𝑑𝑑 − 𝜔𝜔𝑒𝑒𝑒𝑒 𝑖𝑖𝑞𝑞𝑞𝑞
𝑞𝑞𝑞𝑞 𝐿𝐿𝑠𝑠𝑠𝑠
uncertainties,
loop controls non-linarites
the rotor speed. etc.
The So the
performancerecent of controllers
PI control II. PMSM 𝑑𝑑𝑑𝑑 M ODEL D ESCRIPTION
𝑠𝑠
uncertainties, non-linarites etc. Soperformance
the recentofcontrollers
loop controls the rotor speed. The PI control 𝑑𝑑𝑑𝑑 𝑒𝑒 𝑞𝑞𝑞𝑞
(1)
A𝑑𝑑𝑑𝑑 well-known 𝑑𝑑𝑑𝑑 time-invariant
𝑑𝑑𝑑𝑑
include
include modern
modern intelligent
handlingcontrollers
intelligent controllers like
like ANN
ANN based
based [2-3],
[2-3], 𝑑𝑑𝑑𝑑
𝑑𝑑𝑖𝑖
deteriorates
include while
modern intelligent various operating
controllers operating
like ANN conditions
based like
[2-3], A model
model of of PMSMPMSM in
well-known 𝑑𝑑𝑖𝑖
time-invariant
𝑞𝑞𝑞𝑞 in
𝑣𝑣 = 𝑅𝑅𝑅𝑅 + 𝐿𝐿 . 𝑞𝑞𝑞𝑞 −stator
𝜔𝜔 𝑖𝑖 𝐿𝐿 + 𝜔𝜔 𝜙𝜙
deteriorates while handling various conditions like 𝑑𝑑𝑖𝑖 𝑞𝑞𝑞𝑞
𝑣𝑣 = 𝑅𝑅𝑅𝑅 + 𝐿𝐿 . − 𝜔𝜔 𝑖𝑖 𝐿𝐿 + 𝜔𝜔 𝜙𝜙
Fuzzy logic based [4], GA based [5], or Sliding Mode
𝑣𝑣 = 𝑅𝑅𝑅𝑅 + 𝐿𝐿 . − 𝜔𝜔 𝑖𝑖 𝐿𝐿 + 𝜔𝜔 𝜙𝜙
Fuzzy
Fuzzy logic
logic based
based [4],
[4], GA
GA based
based [5],
[5], or
or Sliding
Sliding Mode
Mode 𝑞𝑞𝑞𝑞 𝑞𝑞𝑞𝑞 𝑞𝑞𝑞𝑞 𝑒𝑒 𝑑𝑑𝑑𝑑 𝑠𝑠 𝑒𝑒 (2)
𝑞𝑞𝑞𝑞 𝑞𝑞𝑞𝑞 𝑞𝑞𝑞𝑞 𝑒𝑒 𝑑𝑑𝑑𝑑 𝑠𝑠 𝑒𝑒
fast changes in load, occurrences of disturbances, parameter synchronously rotating 𝑑𝑑𝑑𝑑
flux reference frame is given by:
(2)
𝑞𝑞𝑞𝑞 𝑞𝑞𝑞𝑞 𝑞𝑞𝑞𝑞 𝑑𝑑𝑖𝑖 𝑒𝑒 𝑑𝑑𝑑𝑑 𝑠𝑠 𝑒𝑒
fast changes in load, occurrences of disturbances, parameter synchronously rotating 𝑑𝑑𝑑𝑑
stator flux reference frame is given by:
(2)
Controller (SMC) based[6-8]. A conventional strategy of 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝑣𝑣 𝑤𝑤ℎ𝑒𝑒𝑒𝑒𝑒𝑒,
= 𝑅𝑅𝑅𝑅 𝑣𝑣 + 𝐿𝐿 ::: .d-axis 𝑑𝑑𝑑𝑑 − and
𝜔𝜔 𝑖𝑖 𝐿𝐿
Controller (SMC) based[6-8].etc.A conventional
recent strategy of 𝑑𝑑𝑖𝑖 𝑑𝑑𝑑𝑑
𝑣𝑣 𝑤𝑤ℎ𝑒𝑒𝑒𝑒𝑒𝑒,
= 𝑅𝑅𝑅𝑅 𝑣𝑣 + 𝐿𝐿 . − 𝜔𝜔 𝑖𝑖 𝐿𝐿
Controller (SMC)
uncertainties, based[6-8].
non-linarites etc.ASo conventional
the recent strategy
controllersof
𝑤𝑤ℎ𝑒𝑒𝑒𝑒𝑒𝑒, 𝑣𝑣
uncertainties, non-linarites So the controllers 𝑑𝑑𝑑𝑑 𝑞𝑞𝑞𝑞
Model
Model Predictive
Predictive Control
Control (MPC)
(MPC) [9]
[9] is
is attempted
attempted by
by many
many 𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑
,𝑣𝑣
,𝑣𝑣
𝑑𝑑𝑑𝑑 𝑞𝑞𝑞𝑞
,𝑣𝑣 𝑑𝑑𝑑𝑑
𝑞𝑞𝑞𝑞
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
d-axis
d-axis and
and𝑒𝑒
𝑒𝑒 𝑞𝑞𝑞𝑞
q-axis
𝑞𝑞𝑞𝑞
q-axis
q-axis 𝑠𝑠
𝑠𝑠
stator
stator
stator voltage
voltage (V);
voltage (V);
(V); (1)
include
Model modern
Predictive intelligent controllers
Control (MPC) like
[9] like ANN
is attempted based [2-3],
by many 𝑑𝑑𝑑𝑑
𝑖𝑖𝑖𝑖𝑖𝑖𝑣𝑣𝑑𝑑𝑑𝑑 𝑑𝑑𝑖𝑖
include modern intelligent controllers ANN based [2-3],
𝑞𝑞𝑞𝑞
=
=:𝑅𝑅𝑅𝑅 + and𝐿𝐿 .. qqq𝑑𝑑𝑖𝑖𝑞𝑞𝑞𝑞 −
− 𝜔𝜔 𝑖𝑖 𝐿𝐿 + 𝜔𝜔 𝜙𝜙(A);
researchers
researchers for
for PMSM.
PMSM. Basically,
Basically, MPC
MPC control
control is employed
is employed
employed ,𝑖𝑖𝑞𝑞𝑞𝑞 𝑞𝑞𝑞𝑞
𝑣𝑣𝑑𝑑𝑑𝑑 𝑅𝑅𝑅𝑅𝑞𝑞𝑞𝑞 + 𝐿𝐿𝑞𝑞𝑞𝑞 𝜔𝜔 𝑒𝑒𝑒𝑒 𝑖𝑖𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 𝐿𝐿𝑠𝑠𝑠𝑠 + 𝜔𝜔𝑒𝑒𝑒𝑒 𝜙𝜙
researchers
Fuzzy logicfor
logic PMSM.
based [4],Basically,
[4], GA
GA based MPC [5],control
[5], or is
Sliding Mode ,𝑖𝑖𝑞𝑞𝑞𝑞
:: d-axis
d-axis and axis
axis stator
stator current
current (A);
𝑑𝑑𝑑𝑑
𝑞𝑞𝑞𝑞 𝑞𝑞𝑞𝑞
Fuzzy based based or model.
Sliding Mode 𝑞𝑞𝑞𝑞
,𝑖𝑖 𝑞𝑞𝑞𝑞
d-axis and axis stator current (A); (2)
𝑞𝑞𝑞𝑞 𝑑𝑑𝑑𝑑
𝐿𝐿 𝑑𝑑𝑑𝑑
considering the discrete state-space machine So the (2)
𝐿𝐿
considering the discrete state-space machine model. So the
𝐿𝐿 𝑤𝑤ℎ𝑒𝑒𝑒𝑒𝑒𝑒, 𝑣𝑣
considering
Controller
Controller the
(SMC)
(SMC) discrete state-space
based[6-8].
based[6-8]. A
A machine
conventional
conventional model. So
strategy
strategy the
of
of 𝑑𝑑𝑑𝑑 𝑞𝑞𝑞𝑞
𝑤𝑤ℎ𝑒𝑒𝑒𝑒𝑒𝑒,
𝑑𝑑𝑑𝑑 𝑞𝑞𝑞𝑞 𝑣𝑣𝑑𝑑𝑑𝑑
system becomes automatically fast and accurate. Further, MPC 𝑑𝑑𝑑𝑑
,𝐿𝐿
,𝐿𝐿 𝑞𝑞𝑞𝑞
:
: d-axis
d-axis and
and q
q axis
axis stator
stator inductance
inductance (H);
(H);
𝑑𝑑𝑑𝑑,𝑣𝑣𝑞𝑞𝑞𝑞
system becomes automatically fast and accurate. Further, MPC ,𝐿𝐿 : d-axis ,𝑣𝑣 and : d-axis
q axis and
stator q-axis stator
inductance voltage
(H); (V);
𝑞𝑞𝑞𝑞: d-axis and q-axis stator voltage (V);
𝜙𝜙:
system
Model becomes automatically
Predictive Control fast and
(MPC) [9] accurate.
is
is attempted Further,
by MPC
many
𝜙𝜙: ,𝑖𝑖Permanent
Model Predictive Controlvalue
(MPC) [9] cost attempted byachieve
many
𝜙𝜙:
𝑖𝑖
also offers
offers the
foroptimized value of
of the function is to
𝑖𝑖𝑅𝑅:
also
researchers
also offers
researchers the
the
for optimized
PMSM. Basically,
optimized
PMSM. Basically,
value of the
MPC
the
MPC costcontrol
cost function
control
function is to
to achieve
employed
achieve
employed Permanent
Permanent magnet
magnet
magnet flux
flux
flux linkage
linkage
linkage (Wb);
(Wb);
(Wb);
𝑑𝑑𝑑𝑑 𝑞𝑞𝑞𝑞
: d-axis and qq axis stator current (A);
𝑅𝑅: 𝑑𝑑𝑑𝑑 ,𝑖𝑖 𝑞𝑞𝑞𝑞: d-axis
the control input voltage vector. In this work, the outer loop of and axis stator current (A);
𝑅𝑅:
the control input voltage vector. In this work, the outer loop of
𝐿𝐿
the control
considering input
the voltage
discrete vector. In
state-space this work,
machine the outer
model. loop
So of
the Stator resistance (ohm)
𝐿𝐿
considering the discrete state-space machine model. So the Stator
Stator resistance
resistance (ohm)
(ohm)
𝜔𝜔
the PMSM drive is controlled by a simple robust controller and 𝑑𝑑𝑑𝑑
,𝐿𝐿 𝑞𝑞𝑞𝑞
: d-axis and q axis stator inductance
inductance (H);
𝜔𝜔
the PMSM drive is controlled by a simple robust controller and 𝑑𝑑𝑑𝑑:,𝐿𝐿 𝑞𝑞𝑞𝑞: d-axisangular
𝜔𝜔
the PMSM
system
system drive automatically
becomes
becomes is controlled by
automatically a simple
fast
fast and
and robust controller
accurate.
accurate. Further,
Further, and
MPC
MPC and q axis stator(rad/s); (H);
𝑒𝑒
𝜙𝜙:
the inner loop is tuned finely using MPC. Thus, MPC is used 𝑒𝑒
Electrical velocity
𝜙𝜙: Permanent magnet flux linkage (Wb);
the
also
the inner loop
offers the is tuned
optimized finely
valueusing
of theMPC.
cost Thus,
functionMPC to is used
achieve :
: Electrical
Electrical angular
𝑒𝑒 Permanent magnet flux linkage (Wb);
angular velocity
velocity (rad/s);
(rad/s);
alsoinner
offersloop
theisoptimized
tuned finely valueusing
of the MPC.
cost Thus,
functionMPC is used
to achieve
the control
the control input
input voltage
voltage vector.
vector. In
In this
this work,
work, thethe outer
outer loop
loop of
of 𝑅𝑅:
𝑅𝑅: Stator Stator resistance
resistance (ohm) (ohm)
𝜔𝜔
the
the PMSM
PMSM drive
drive is is controlled
controlled byby aa simple
simple robust
robust controller
controller and
𝜔𝜔𝑒𝑒𝑒𝑒 : Electrical angular velocity
and
the
the inner
inner loop
loop isis tuned
tuned finely
finely using
using MPC.
MPC. Thus,
Thus, MPC
MPC is is used
used : Electrical angular velocity (rad/s); (rad/s);
2405-8963 Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license.
Peer review under responsibility of International Federation of Automatic Control.
10.1016/j.ifacol.2023.03.033
196 Shweta B. Gunjal Electrical et al. / IFAC PapersOnLine 55-22 (2022) 195–200

3 𝑝𝑝2
𝜙𝜙𝑖𝑖𝑞𝑞𝑞𝑞̇ + 𝑥𝑥2
𝐵𝐵
𝑥𝑥2̇ = −𝜔𝜔̈ 𝑒𝑒 = −
[𝑣𝑣𝑑𝑑𝑑𝑑 − 𝑅𝑅𝑅𝑅𝑑𝑑𝑑𝑑 + 𝜔𝜔𝑒𝑒 𝑖𝑖𝑞𝑞𝑞𝑞 𝐿𝐿𝑞𝑞𝑞𝑞]
𝑑𝑑𝑖𝑖𝑑𝑑𝑑𝑑 1
=
(12)
(3) 2 𝐽𝐽 𝑝𝑝
𝑑𝑑𝑑𝑑 𝐿𝐿𝑑𝑑𝑑𝑑 The sliding mode surface is defined as
𝑑𝑑𝑖𝑖𝑞𝑞𝑞𝑞
=
1
[𝑣𝑣𝑞𝑞𝑞𝑞 − 𝑅𝑅𝑅𝑅𝑞𝑞𝑞𝑞 − 𝜔𝜔𝑒𝑒 𝑖𝑖𝑑𝑑𝑑𝑑 𝐿𝐿𝑑𝑑𝑑𝑑 − 𝜔𝜔𝑒𝑒 𝜙𝜙] (4) 𝑠𝑠 = 𝑐𝑐𝑥𝑥1 + 𝑥𝑥2 (𝑐𝑐 > 0) (13)
𝑑𝑑𝑑𝑑 𝐿𝐿𝑞𝑞𝑞𝑞 After differentiating equation (13) and substituting Eq. (9) in
it,
𝑠𝑠̇ = 𝑐𝑐𝑥𝑥1̇ + 𝑥𝑥2̇ = 𝑐𝑐𝑥𝑥2 + 𝑥𝑥2̇
Electromagnetic torque Te (Nm) in d-q reference plane
𝑇𝑇𝑒𝑒 = 𝑝𝑝[𝜙𝜙 + (𝐿𝐿𝑑𝑑𝑑𝑑 −𝐿𝐿𝑞𝑞𝑞𝑞). 𝑖𝑖𝑑𝑑𝑑𝑑 ]𝑖𝑖𝑞𝑞𝑞𝑞
3 (14)
(5)
2 Subsequently from equation (12),
3 𝑝𝑝2
𝜙𝜙𝑖𝑖𝑞𝑞𝑞𝑞̇ + 𝑥𝑥2
𝐵𝐵
Where, p is the number of poles. 𝑠𝑠̇ = 𝑐𝑐𝑥𝑥2 − (15)
2 𝐽𝐽 𝑝𝑝
If stator field oriented control strategy (𝑖𝑖𝑑𝑑𝑑𝑑 = 0) is adopted then
Chattering phenomenon can be minimized by modifying the
the electromagnetic torque is simplified as switching control with the help of super twisting algorithm
3
𝑇𝑇𝑒𝑒 = 𝑝𝑝𝑝𝑝𝑖𝑖𝑞𝑞𝑞𝑞 with reaching law:
𝑠𝑠̇ = −𝑘𝑘1 |𝑠𝑠|0.5 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝑠𝑠) − 𝑘𝑘 2 ∫ 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝑠𝑠)
(6)
2 (23)
The rotor mechanical equation of PMSM Where k1 and k2 are positive to be tuned.
= 𝑝𝑝 [ 𝑒𝑒 − ]
𝑑𝑑𝜔𝜔 𝑒𝑒 𝑇𝑇 𝑇𝑇𝐿𝐿 𝐵𝐵𝐵𝐵 𝑚𝑚
− (7) (15) and (23) control law becomes so
∫ ( 𝑐𝑐𝑥𝑥2 + 𝑥𝑥2 + 𝑘𝑘1 |𝑠𝑠|0.5 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝑠𝑠) +
𝑑𝑑𝑑𝑑 𝐽𝐽 𝐽𝐽 𝐽𝐽 2𝐽𝐽 𝐵𝐵
𝑖𝑖𝑞𝑞𝑞𝑞 ∗ = 2
Where, 3𝑝𝑝 𝜙𝜙 𝐽𝐽

𝑇𝑇𝐿𝐿: load torque (Nm); 𝑘𝑘2 ∫ 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝑠𝑠)) 𝑑𝑑𝑑𝑑 (24)

𝐽𝐽: rotational inertia (kg.𝑚𝑚2); So in order to achieve the stability of sliding mode control,
𝐵𝐵: viscous friction coefficient (Nm.s/rad) ; Lyapunov’s function is selected as:
𝑣𝑣 = 𝑠𝑠𝑠𝑠 𝑇𝑇
𝜔𝜔𝑚𝑚 : rotor mechanical angular speed (rad/s); (𝜔𝜔𝑒𝑒 = 𝑝𝑝𝑝𝑝𝑚𝑚 ).
(25)
It is seen that the function 𝑣𝑣̇ is negative definite, and hence the
stability is proved.
III. THE PROPOSED MPC-HOSMC (STA) CONTROL METHOD

V. DESIGN OF THE M ODEL PREDICTIVE CURRENT / TORQUE

CONTROLLER
When the current differential equations (3) and (4) are
discretized by the first-order difference, the prediction of the
stator currents at (k+1)th instant, with first order Euler method
is:
𝑅𝑅 𝑠𝑠 𝐿𝐿𝑞𝑞𝑞𝑞
𝑖𝑖 𝑑𝑑𝑑𝑑 𝑝𝑝(𝑘𝑘 + 1) = (1 − 𝑇𝑇𝑠𝑠 ) 𝑖𝑖 𝑑𝑑𝑑𝑑 (𝑘𝑘) + 𝜔𝜔 𝑇𝑇 𝑖𝑖 (𝑘𝑘)
𝐿𝐿𝑑𝑑𝑑𝑑 𝐿𝐿𝑑𝑑𝑑𝑑 𝑒𝑒 𝑠𝑠 𝑞𝑞𝑞𝑞
𝑇𝑇𝑠𝑠
+ 𝑣𝑣𝑑𝑑𝑑𝑑 (𝑘𝑘) (26)
𝐿𝐿𝑑𝑑𝑑𝑑
𝑅𝑅 𝑠𝑠 𝐿𝐿𝑑𝑑𝑑𝑑
𝑖𝑖 𝑞𝑞𝑞𝑞 𝑝𝑝 (𝑘𝑘 + 1) = (1 − 𝑇𝑇𝑠𝑠 ) 𝑖𝑖 𝑞𝑞𝑞𝑞 (𝑘𝑘) − 𝜔𝜔 𝑇𝑇 𝑖𝑖 (𝑘𝑘)
𝐿𝐿𝑞𝑞𝑞𝑞 𝐿𝐿𝑞𝑞𝑞𝑞 𝑒𝑒 𝑠𝑠 𝑑𝑑𝑑𝑑
𝑇𝑇 𝜙𝜙
+ 𝑠𝑠 𝑣𝑣𝑞𝑞𝑞𝑞 (𝑘𝑘) − 𝜔𝜔𝑒𝑒 𝑇𝑇𝑠𝑠 (27)
𝐿𝐿𝑞𝑞𝑞𝑞 𝐿𝐿𝑞𝑞𝑞𝑞
Fig. 1. Block diagram of the proposed STA-HOSMC-MPC.
Where,
Fig 1. Shows the block diagram of the proposed structure 𝑖𝑖𝑑𝑑𝑑𝑑 (𝑘𝑘), 𝑖𝑖 𝑞𝑞𝑞𝑞 (𝑘𝑘):d-axis and q-axis measured current value
wherein MPC is used in the current loop and speed is 𝑇𝑇𝑠𝑠: sampling period of the system
regulated using STA-HOSMC. Value of current ids is 𝑖𝑖𝑑𝑑𝑑𝑑 𝑝𝑝 (𝑘𝑘 + 1), 𝑖𝑖𝑞𝑞𝑞𝑞 𝑝𝑝 (𝑘𝑘 + 1):d-axis and q-axis current predictive
regulated to zero. This ensures high torque per unit ampere value at (k+1)th instant
current. Sliding Mode Control in the speed loop offers the MPC predicts the variation of 𝑖𝑖𝑑𝑑𝑑𝑑 and 𝑖𝑖𝑞𝑞𝑞𝑞 under seven different
drive robustness against external disturbances, model voltage vectors 𝑣𝑣0 to 𝑣𝑣7.
discrepancies, load changes etc. Steady state chattering effects A cost function dependent on the error between predictive
in SMC can be reduced by STA-HOSMC. current value and reference current value is selected as in
equation (28).
2 2
𝑔𝑔 = [ 𝑖𝑖𝑑𝑑𝑑𝑑 ∗ − 𝑖𝑖 𝑑𝑑𝑑𝑑 (𝑘𝑘 + 1) ] + [ 𝑖𝑖 𝑞𝑞𝑞𝑞 ∗ − 𝑖𝑖 𝑞𝑞𝑞𝑞 (𝑘𝑘 + 1)]
𝑝𝑝 𝑝𝑝
IV. DESIGN OF THE HIGHER ORDER SLIDING M ODE (SUPER (28)
TWISTING A LGORITHM) SPEED CONTROLLER Where, 𝑖𝑖𝑑𝑑𝑑𝑑 ∗ , 𝑖𝑖𝑞𝑞𝑞𝑞 ∗: referenced current value
The PMSM speed error is selected as state variable, The parameters of MPC controllers are set as follows, thebasic
𝑥𝑥1 = 𝜔𝜔 ∗ 𝑒𝑒 − 𝜔𝜔𝑒𝑒 (8) prediction horizon (Np) = 20; the basic control horizon (Nc) =
𝑥𝑥2 = 𝑥𝑥1̇ = −𝜔𝜔𝑒𝑒̇ (9) 10; The weights of manipulated variables: R = 0.10 and Q =
So as per torque equation differentiation of 𝑥𝑥1 and 𝑥𝑥2
10. Here, Q and R are the control error and the control input
𝑥𝑥1̇ = −𝜔𝜔𝑒𝑒̇ = [𝑇𝑇𝑒𝑒 − 𝑇𝑇𝐿𝐿 − 𝐵𝐵𝐵𝐵𝑚𝑚 ]
𝑝𝑝 increment respectively.
(10)
𝐽𝐽

𝑥𝑥1̇ = −𝜔𝜔̇𝑒𝑒 = − [ 𝑝𝑝𝑝𝑝𝑖𝑖𝑞𝑞𝑞𝑞 + 𝑇𝑇𝐿𝐿 + 𝜔𝜔𝑒𝑒 ]

𝑝𝑝 3 𝐵𝐵
(11)
𝐽𝐽 2 𝑝𝑝
 Shweta B. Gunjal Electrical et al. / IFAC PapersOnLine 55-22 (2022) 195–200 197

VI. SIMULATIONS AND RESULTS 2. Simulation Results of PMSM Performance with

To verify the effectiveness of the proposed HOSMC Acceleration and Deceleration
(STA) - MPC method, the simulation is performed using The comparison of the dynamic acceleration and
MATLAB/Simulink. The vector control scheme of 𝑖𝑖𝑑𝑑𝑑𝑑 = 0 is deceleration speed performance of the two control methods is
adopted. The sampling period 𝑇𝑇𝑠𝑠 is set as 1𝜇𝜇𝜇𝜇. The PMSM shown in Fig. 5. The motor starts with no load, and reference
parameters are listed as follows: Rated Power (P) is 1.5KW, speed is 1000 rad/m. After applying full load torque 5 Nm at
Rated Load (TL) is 5 Nm, Stator resistance (Rs) is 1.3 Ω, 0.04 sec, it accelerates to 3000 rad/m at 0.05 sec and
Number of Poles (P) are 2, Axis inductance (L) are 0.0069 H, decelerates to 500 rad/m at 0.08 sec. Corresponding torque is
flux(𝜙𝜙) is 0.7539 Wb , Rotational Inertia (J) is 0.0027 Kg-m2 shown in Fig. 6. And ITAE is as shown in Fig. 7.
and Viscous Friction Coefficient (B) is 0.000827 Kg/s ..
The performance of proposed STA-HOSMC- MPC is
compared with the conventional SMC-SMC. The results for
various conditions are in Fig. 2 to Fig. 16. Different response
characteristics are tabulated in Table I.
1. Simulation Results of PMSM Performance with Full Load
In the first condition, reference speed is 3000 rad/m and
full load of 5 Nm is applied at 0.04 sec. The response is
depicted in Fig.2. Corresponding torque is shown in Fig. 3.
Integral Time Absolute Error (ITAE) is as shown in Fig. 4.

Fig. 5. Speed comparison for condition 2.

Fig. 2. Speed comparison for condition 1.

Fig. 6. Electromagnetic Torque for condition 2.

Fig. 3. Electromagnetic Torque for condition 1.

Fig. 7. ITAE for condition 2.

3. Simulation Results of PMSM Performance with Speed

Reversal
In order to test the operation of the drive in quadrant II,
speed reversal is considered. The comparison of the speed
reversal performance of the two control methods is indicated
in Fig. 8. Where, the motor starts at no load, and the reference
speed is initially 3000 rad/m. After applying full load torque
5 Nm at 0.04 sec. It reverse to -3000 rad/m at 0.06 sec.
Fig. 4. ITAE for condition 1.
Corresponding torque is pictured in Fig. 9. And ITAE is as
shown in Fig. 10.
198 Shweta B. Gunjal Electrical et al. / IFAC PapersOnLine 55-22 (2022) 195–200

Fig. 8. Speed comparison for condition 3. Fig. 12. Electromagnetic Torque for condition 4.

Fig. 13. ITAE for condition 4.

Fig. 9. Electromagnetic Torque for condition 3.
5. Simulation Results of PMSM Performance with Zero
Speed Full Load (5Nm)
Also the comparison of the no speed or zero speed
performance at full load 5 Nm at 0.04 sec of the two control
strategies is shown in Fig. 14 and Fig. 15 can helps to see
torque performance. ITAE is as indicated in the Fig. 10.

Fig. 10. ITAE for condition 3.

4. Simulation Results of PMSM against Disturbance

Performance
By comparing the anti-disturbance performance of the two
control strategies. The motor start under the conditions of
given speed 3000 rad/m and rated load 5 Nm at 0.04 sec. After Fig. 14. Speed comparison for condition 5.
change in parameter Stator Resistance (Rs). The speed
response comparison waveform is indicated in Fig. 11, and
corresponding torque is pictured in Fig. 12. And ITAE is as
shown in Fig. 13.

Fig. 15. Electromagnetic Torque for condition 5.

Fig. 11. Speed comparison for condition 4.

 Shweta B. Gunjal Electrical et al. / IFAC PapersOnLine 55-22 (2022) 195–200 199

Simulation Parameters
Sr.
No HOSMC(STA)
SMC - SMC
. Characteristics Condition – MPC
Controller
Controller
2 0.021 0.016
Settling Time (Ts in 3 0.029 0.019
sec)
4 0.0256 0.0194
1 1.51 0
2 1.42 0
2. Peak Overshoot (%)
3 4.08 0
4 0.93 0
1 0.021 0.003
Fig. 16. ITAE for condition 5. Steady state speed 2 0.070 0.013
3.
error (ess) 3 0.090 0.021
6. THD Analysis of PMSM Stator Current Under Steady- 4 0.060 0.015
state Operation
TABLE II. S TATOR P HASE C URRENT THD
Three-phase current waveform of PMSM operating under
Stator Phase Current
the rated load 5 Nm and the given speed 2500 rad/m. It can be Sr.
seen from Fig. 17 and Fig. 18 that the current waveform of the No
Method ia ib ic
HOSMC (STA) - MPC controller is smoother. Three current .
cycles in the time period from 0.06 sec to 0.08 sec, and
1. SMC - SMC Controller 3.27% 3.07% 3.11%
analyze the Total Harmonic Distortion (THD) of the stator
three-phase current. As we can be seen from Table II, the 2. HOSMC(STA) – MP C
2.01% 1.79% 1.92%
control method proposed in this paper significantly reduces Controller

the harmonic of the three-phase stator current. This is proved

CONCLUSION
by nearly 35% reduction in the THD resulting in energy
efficient drive. An HOSMC (STA) together with MPC control is
proposed. Instead of using MPC for both inner and outer loops,
the system is made simpler by having only inner loop
controlled by MPC. This reduces the computational burden on
the system. It is observed that uncertainties in the practical
systems are compensated very well. Also, it is concluded that
because of STA, drive operates smoothly and is also stable
under varying load situations. MPC offers the advantages such
as fast response, good static and dynamic performance. The
effectiveness of the proposed algorithm is proved by its
comparison with conventional SMC control. It is proved that
the proposed algorithm reduces THD by almost 35% and
hence the drive becomes energy efficient.
Fig. 17. Phase Current diagram for SMC - SMC. REFERENCES
[1] Blaschke, F. “ The principle of field-orientation as applied to the new
transvector closed-loop system for rotating-field machines.” Siemens
Rev. 1972, 34, 217–220.
[2] R. Kumar, R. A. Gupta and A. K. Bansal, "Identification and Control of
PMSM Using Artificial Neural Network," 2007 IEEE International
Symposium on Industrial Electronics, 2007, pp. 30-35.
[3] Jadhav S.V., Chaudhari, B.N. (2013). “ A Novel Artificial Neural
Network Based Space Vector Modulated DTC and Its Comparison with
Other Artificial Intelligence (AI) Control Techniques. In: Iliadis, L.,
Papadopoulos, H., Jayne, C. (eds) Engineering Applications of Neural
Networks.” EANN 2013. Communications in Computer and
Information Science, vol 383. Springer, Berlin, Heidelberg.
[4] A. Maamoun, Y. M. Alsayed and A. Shaltout, "Fuzzy logic based speed
controller for permanent-magnet synchronous motor drive," 2013 IEEE
International Conference on Mechatronics and Automation, 2013, pp.
1518-1522.
Fig. 18. Phase Current diagram for HOSMC (STA) - MPC. [5] Zang Bingyi, Sun Guanggui, Feng Guihong, Zeng Yifan and Wang
Lifeng, "Optimized design of PMSM inner potential waveform for low-
VII. TABLES FOR RESULTS speed & high-torque drive systems based on GA," The Fifth
International Conference on Power Electronics and Drive Systems,
2003. PEDS 2003., pp. 671-675 Vol.1.
TABLE I. P ERFORMANCE P ARAMETERS [6] S. V. Jadhav, J. Srikanth and B. N. Chaudhari, "Intelligent controllers
Simulation Parameters applied to SVM-DTC based induction motor drives: A comparative
Sr. study," 2010 Joint International Conference on Power Electronics,
No HOSMC(STA) Drives and Energy Systems & 2010 Power India, 2010, pp. 1-8.
SMC - SMC
. Characteristics Condition – MPC [7] R. M. Pindoriya, A. K. Mishra, B. S. Rajpurohit and R. Kumar,
Controller
Controller "Performance analysis of control strategies of permanent magnet
1. 1 0.024 0.017
200 Shweta B. Gunjal Electrical et al. / IFAC PapersOnLine 55-22 (2022) 195–200

synchronous motor," 2016 IEEE Region 10 Conference (TENCON), [16] K. Zhao, R. Zhou, J. She, C. Zhang, J. He and X. Li, "A Model
2016, pp. 3224-3227. Predictive Current Control Based on Sliding Mode Speed Controller for
[8] K. Suman and A. T. Mathew, "Speed Control of Permanent Magnet PMSM," 2020 13th International Conference on Human System
Synchronous Motor Drive System Using PI, PID, SMC and SMC plus Interaction (HSI), 2020, pp. 229-233.
PID Controller," 2018 International Conference on Advances in [17] Vadim Utkin, Alex Poznyak, Yury Orlov, Andrey Polyakov,
Computing, Communications and Informatics (ICACCI), 2018, pp. “ Conventional and high order sliding mode control”, Journal of the
543-549. Franklin Institute, Volume 357, Issue 15, 2020 4-29601, 2018.
[9] Hang, Jun & Zhang, Jibo & Xia, Mengjie & Ding, Shichuan & Hua, [18] V. Utkin and Jingxin Shi, "Integral sliding mode in systems operating
Wei. (2019). “ Inter-turn Fault Diagnosis for Model-Predictive- under uncertainty conditions," Proceedings of 35th IEEE Conference on
Controlled-PMSM Based on Cost Function and Wavelet Transform.” Decision and Control, 1996, pp. 4591-4596 vol.4.
IEEE Transactions on Power Electronics. PP. 1-1. [19] J. Davila, L. Fridman and A. Levant, "Second-order sliding-mode
10.1109/TPEL.2019.2953269. observer for mechanical systems," in IEEE Transactions on Automatic
[10] Z. Li, F. Wang, D. Ke, J. Li and W. Zhang, "Robust Continuous Model Control, vol. 50, no. 11, pp. 1785-1789, Nov. 2005.
Predictive Speed and Current Control for PMSM With Adaptive [20] A. Levant, “ Sliding order and sliding accuracy in sliding mode control,”
Integral Sliding-Mode Approach," in IEEE Transactions on Power International journal of control, vol. 58, no. 6, pp. 1247– 1263, 1993
Electronics, vol. 36, no. 12, pp. 14398-144. [21] A. Chalanga, S. Kamal, L. M. Fridman, B. Bandyopadhyay and J. A.
[11] Utkin, V., Guldner, J., & Shi, J. (2009) “ Sliding Mode Control in Moreno, "Implementation of Super-Twisting Control: Super-Twisting
Electro-Mechanical Systems” (2nd ed.). CRC Press and Higher Order Sliding-Mode Observer-Based Approaches," in IEEE
[12] L. Wu, J. Liu, S. Vazquez and S. K. Mazumder, "Sliding Mode Control Transactions on Industrial Electronics, vol. 63, no. 6, pp. 3677-3685,
in Power Converters and Drives: A Review," in IEEE/CAA Journal of June 2016.
Automatica Sinica, vol. 9, no. 3, pp. 392-406, March 2022. [22] Z. Li, S. Zhou, Y. Xiao and L. Wang, "Sensorless Vector Control of
[13] Park Min-Ho, Kim Young-Real and Kim Kyung-Seo, "Chattering Permanent Magnet Synchronous Linear Motor Based on Self-Adaptive
reduction in the position control of induction motor using the sliding Super-Twisting Sliding Mode Controller," in IEEE Access, vol. 7, pp.
mode," 20th Annual IEEE Power Electronics Specialists Conference, 44998-45011, 2019.
1989, pp. 438-445 vol.1. [23] G. Fuhui and L. Pingli, "Fast self-adapting high-order sliding mode
[14] X. Zhang, L. Sun, K. Zhao and L. Sun, "Nonlinear Speed Control for control for a class of uncertain nonlinear systems," in Journal of
PMSM System Using Sliding-Mode Control and Disturbance Systems Engineering and Electronics, vol. 32, no. 3, pp. 690-699, June
Compensation Techniques," in IEEE Transactions on Power 2021.
Electronics, vol. 28, no. 3, pp. 1358-1365, March 2013.
[15] X. Liu, H. Yu, J. Yu and L. Zhao, "Combined Speed and Current
Terminal Sliding Mode Control With Nonlinear Disturbance Observer
for PMSM Drive," in IEEE Access, vol. 6, pp. 295908, Dec. 2021.