Disturbance Attenuation-based Full Closed-Loop FCS Model Predictive Position Control for PMSM-based Actuators used in Robotics

In this paper, a novel approach is introduced to address the challenges associated with controlling permanent magnet synchronous motor (PMSM)-based actuators in robotics. The proposed method is a disturbance attenuation-based full closed-loop finite control set model predictive position control (FCS-MPPC) scheme. First, a discrete position prediction model is developed to serve as the foundational framework for the fully-closed-loop FCS-MPPC implementation. Second, to enhance resistance capability to disturbances, a mathematical model is created, including a disturbance term, and a disturbance observer is employed to monitor and adjust these disturbances in real time. The adjusted values are then integrated into the prediction process to ensure that the FCS-MPPC controller optimally selects voltage vectors for precise motor control. The proposed approach eliminates the need for separate speed and current control loops, instead utilizing a unified position control loop for PMSM rotor control. This results in a high system bandwidth and exceptional dynamic response, albeit with a relatively lower resistance to high-frequency disturbances. Finally, simulation results are provided to validate the proposed method.