| Citation: | LIU X，WANG Z Y，WANG X Y. Model-free predictive current control for permanent magnet toroidal motor with extended state observer[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（4）：1085-1096 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0495
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The model-free predictive current control method for the toroidal motor with extended state observer (MFPCC-ESO) was investigated in order to reduce the dependence of deadbeat predictive current control (DPCC) on the parameters of a permanent magnet toroidal motor system. According to the composite rotor structure of a toroidal motor, the rotation motion influence coefficient and magnetomotive force coefficient were introduced. The rotating coordinate system was used to build the time-varying mathematical model of the toroidal motor. Then the ultra-local model with a time-varying scaling factor was established by using the input and output of the toroidal motor system. Meanwhile, ESO was introduced to estimate the interference part of the ultra-local model in real time, and the stability of ESO was proved by using the Jury criterion. Combining with the delay compensation DPCC, the reference voltage vector was obtained. The MFPCC-ESO for the toroidal motor was further realized. The MFPCC-ESO strategy and DPCC strategy were compared and analyzed for toroidal motor under parameter matching and mismatch. The simulation results show that the toroidal motor with the MFPCC-ESO strategy has superior dynamic performance, steady-state performance, and strong robustness. Meanwhile, the proposed control strategy can also reduce the output fluctuation of the toroidal motor effectively.
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