Model Predictive Direct Speed Control of PMSM Considering Friction Characteristics

SONG Zhe; CAO Xuan; ZHOU Weihong; ZOU Jia; LIU Dong

doi:10.12382/bgxb.2025.0928

您当前的位置：

首页 >

文章列表页 >

Model Predictive Direct Speed Control of PMSM Considering Friction Characteristics

更新时间：2026-04-30

- Model Predictive Direct Speed Control of PMSM Considering Friction Characteristics
- Acta Armamentarii (2026)
- 作者机构：
  
  1. ．中国矿业大学（北京）机械与电气工程学院,北京,100083
  2. ．长沙矿山研究院有限责任公司,湖南,长沙,410012
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0928
  CLC： TM341
- Received：17 October 2025，
  
  Online First：30 April 2026，
- 稿件说明：
移动端阅览
宋哲，曹轩，周威宏，等. 考虑摩擦特性的PMSM模型预测直接速度控制[J/OL]. 兵工学报, 2026(2026-04-30). https://doi.org/10.12382/bgxb.2025.0928.

SONG Z, CAO X, ZHOU W H, et al. Model predictive direct speed control of pmsm considering friction characteristics[J/OL]. Acta Armamentarii, 2026(2026-04-30). https://doi.org/10.12382/bgxb.2025.0928. (in Chinese)
宋哲，曹轩，周威宏，等. 考虑摩擦特性的PMSM模型预测直接速度控制[J/OL]. 兵工学报, 2026(2026-04-30). https://doi.org/10.12382/bgxb.2025.0928. DOI：

SONG Z, CAO X, ZHOU W H, et al. Model predictive direct speed control of pmsm considering friction characteristics[J/OL]. Acta Armamentarii, 2026(2026-04-30). https://doi.org/10.12382/bgxb.2025.0928. (in Chinese) DOI：

摘要

为提高永磁同步电机（Permanent Magnet Synchronous Motor

PMSM）调速系统的控制性能，提出一种考虑摩擦特性的模型预测直接速度控制（Model Predictive Direct Speed Control

MPDSC）方法。根据PMSM数学模型，设计无权重因子的MPDSC控制方法，避免了权重因子的繁杂整定，提高了动态响应性能。通过引入龙伯格扰动观测器，增强了系统对负载扰动的抑制能力。针对通常被忽略的摩擦阻尼，分析了摩擦特性对MPDSC和扰动观测器的影响规律，并提出了一种改进的Stribeck摩擦模型来减少这种影响。该模型具有自适应速度相关性，能够精确反映摩擦力矩随转速变化的耦合特性。实验结果表明，与未考虑摩擦特性的MPDSC控制相比，所提方法动态响应提高了20%，超调量降低了40%，抗扰动性能提高了20%以上，明显提高了控制性能。该方法适用于一些摩擦现象比较严重的兵器伺服装备，如自行火炮驱动、导弹翼面作动器、雷达转台伺服等。

Abstract

This study introduces a model predictive direct speed control (MPDSC) strategy that incorporates friction characteristics to enhance the control performance of permanent magnet synchronous motor (PMSM) speed control systems. Based on the PMSM mathematical model

an unweighted MPDSC control method was designed to avoid the complex tuning of weighting factors and improve dynamic response. By introducing aLuenbergerdisturbance observer

the system's anti-interferenceability was enhanced. We analyzed the influence of friction characteristics on MPDSC and disturbance observer in response to the commonly overlooked friction damping

and proposed an improvedStribeckfriction model to reduce this influence. This model has adaptive speed correlation and can accurately reflect the coupling characteristics of friction torque with speed variation. The experimental results show that compared with the control without considering friction characteristics

the proposed method improves the dynamic response by 20%

reduces overshoot by 40%

and enhances disturbance resistance by over 20%

significantly improving the control performance. This method is applicable to some weapon servo equipmentwith severe friction phenomena

such asself-propelled artillery drive

missile wing actuator

radar turntable servo

etc.

关键词

Keywords

references

SUN Y P, YANG M, WANG B, et al. Precise position control based on resonant controller and second-order sliding mode observer for PMSM-driven feed servo system[J]. IEEE Transactions on Transportation Electrification, 2023, 9(1): 196-209.

鞠孝伟, 龙佳兴, 张凤阁, 等. 电动飞行汽车用推进电机发展现状和研究综述[J]. 电工技术学报, 2025, 40(17): 5402-5421.

JU X W, LONG J X, ZHANG F G, et al. Development status and research review of propulsion motors for electric flying cars[J]. Transactions of China Electrotechnical Society, 2025, 40(17): 5402-5421. (in Chinese)

FANG S H, WANG Y C, WANG W, et al. Design of permanent magnet synchronous motor servo system based on improved particle swarm optimization[J]. IEEE transactions on power electronics, 2022, 37(5): 5833-5846.

章恒亮, 花为. 分布式驱动系统用轮毂电机及其技术综述[J]. 中国电机工程学报, 2024, 44(7): 2871-2886.

ZHANG H L, HUA W. Hub motors for distributed drive systems and their technical review[J]. Proceedings of the CSEE, 2024, 44(7): 2871-2886. (in Chinese)

WU J, ZHANG J, NIE B, et al. Adaptive control of PMSM servo system for steering-by-wire system with disturbances observation[J]. IEEE transactions on transportation electrification, 2022, 8(2): 2015-2028.

XU W, JUNEJO A K, LIU Y, et al. An efficient antidisturbance sliding-mode speed control method for PMSM drive systems[J]. IEEE Transactions on Power Electronics, 2021, 36(6): 6879-6891.

VADIVEL R, JOO Y H. Reliable fuzzy H∞ control for permanent magnet synchronous motor against stochastic actuator faults[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021, 51(4): 2232-2245.

罗力岩, 樊启高. 一种改进型永磁同步电机无模型预测电流控制策略[J]. 电工技术学报, 2025, 40(4): 38-46. LUO L Y, FAN Q G. An improved model free predictive current control strategy for permanent magnet synchronous motor [J]. Transactions of China Electrotechnical Society, 2025, 40(4): 38-46.(in Chinese)

NNUYEN T T, TRAN H N, NGUYEN T H, et al. Recurrent neural network-based robust adaptive model predictive speed control for PMSM with parameter mismatch[J]. IEEE Transactions on Industrial Electronics, 2023, 70(6): 6219-6228.

HE L, WANG F X, WANG J X, et al. Zynq implemented Luenberger disturbance observer based predictive control scheme for PMSM drives[J]. IEEE Transactions on Power Electronics, 2020, 35(2): 1770-1778.

LI S B, XU Y X, ZHANG W T, et al. Robust deadbeat predictive direct speed control for PMSM with dual second-order sliding-mode disturbance observers and sensitivity analysis[J]. IEEE Transactions on Power Electronics, 2023, 38(7): 8310-8326.

KAWAI H, ZHANG Z B, KENNEL R, et al. Direct speed control based on finite control set model predictive control with voltage smoother[J]. IEEE Transactions on Industrial Electronics, 2023, 70(3): 2363-2372.

张珍睿,张庆亚,王兴宇,等.表贴式永磁同步电机无模型预测直接速度控制方法研究[J]. 中国电机工程学报, 2026 , 46 (4): 1651-1661.

ZHANG Z R, ZHANG Q Y, WANG X Y, et al. Research on model free predictive direct speed control method for surface mounted permanent magnet synchronous motor [J]. Proceedings of the CSEE, 2026, 46(4): 1651-1661. (in Chinese)

ZHANG X G, CHENG Y, ZHAO Z, et al. Robust model predictive direct speed control for SPMSM drives based on full parameter disturbances and load observer[J]. IEEE Transactions on Power Electronics, 2020, 35(8): 8361-8373.

YANG L G, LI H M, HUANG J D, et al. Model predictive direct speed control with novel cost function for SMPMSM drives[J]. IEEE Transactions on Power Electronics, 2022, 37(8): 9586-9595.

史婷娜, 赵梦圆, 夏长亮. 基于数据驱动观测器的永磁同步电机显式模型预测直接速度控制[J]. 中国电机工程学报, 2025, 45(4): 1248-1260.

SHI T N, ZHAO M Y, XIA C L. Explicit model predictive direct speed control of permanent magnet synchronous motor based on data-driven observer [J]. Proceedings of the CSEE, 2025, 45(4): 1248-1260. (in Chinese)

HE L, WANG F X, KE D L. FPGA-based sliding-mode predictive control for PMSM speed regulation system using an adaptive ultralocal model[J]. IEEE Transactions on Power Electronics, 2021, 36(5): 5784-5793.

王奇维, 李斌兴, 潘冠丞, 等. 基于转子位置误差解耦阻抗建模的永磁同步电机电感在线辨识方法[J]. 电工技术学报, 2025, 40(2): 439-451.

WANG Q W, LI B X, PAN G C, et al. Induction online identification method for permanent magnet synchronous motor based on decoupling impedance modeling of rotor position error [J]. Transactions of China Electrotechnical Society, 2025, 40(2): 439-451. (in Chinese)

YIM J Y, YOU S S, LEE Y, et al. Chattering attenuation disturbance observer for sliding mode control: Application to permanent magnet synchronous motors[J]. IEEE Transactions on Industrial Electronics, 2023, 70(5): 5161-5170.

陶涛, 刘森, 赵文祥, 等. 基于限制随机数的窄扩频范围永磁同步电机高频谐波抑制策略[J]. 中国电机工程学报, 2026, 46(03): 1203-1216.

TAO T, LIU S, ZHAO W X, et al. High frequency harmonic suppression strategy for narrow spread spectrum permanent magnet synchronous motor based on restricted random numbers [J]. Proceedings of the CSEE, 2026, 46 (03): 1203-1216. (in Chinese)

KIM S. Moment of inertia and friction torque coefficient identification in a servo drive system[J]. IEEE Transactions on Industrial Electronics, 2019, 66(1): 60-70.

WANG C, PENG J D, PAN J F. A novel friction compensation method based on Stribeck model with fuzzy filter for PMSM servo systems[J]. IEEE Transactions on Industrial Electronics, 2023, 70(12): 12124-12133.

YANG C B, SONG B, XIE Y L, et al. Speed-controller-independent mechanical parameter identification in SPMSM drive achieved via signal injection[J]. IEEE Transactions on Industrial Electronics, 2023, 70(2): 1282-1297.

Views

下载量

CNKI被引量

Alert me when the article has been cited

提交

Tools

Publicity Resources

A Half-period Calculation Single Sampling Double Update-based Sensorless Control of Permanent Magnet Synchronous Motor under Low Carrier Ratio Conditions

Ultra-local Model-free Current Predictive Control of Permanent Magnet Synchronous Motor Based on Nonlinear Disturbance Compensation

Sliding Mode Feedforward Control and Disturbance Suppression for PMSM Based on Full Parameters Adaptive Smith Predictor Compensation

Effect of Galvanometer Scanning Speed on Surface Quality and Friction Characteristics of 7075 Aluminum Alloy During Laser Cleaning

Recursive Sliding Mode Control for Hypersonic Vehicle Based on Nonlinear Disturbance Observer

Related Author

Luhua ZHENG

Chunqiao ZHU

Shujuan SHI

Chun WU

Lingliang XU

Guiming CHEN

Jiaqi WANG

Yonghong ZHU

Related Institution

College of Information Engineering, Zhejiang University of Technology

Rocket Force University of Engineering

School of Mechanical Engineering, Suzhou University of Science and Technology

School of Mechanical and Electronic Engineering, Jingdezhen Ceramic University

Suzhou Key Laboratory of Coexisting-Cooperative-Cognitive Robot Technology

Postal code：100089
Tel：010-68963060/68962718 Fax：010-68963025 Email：bgxb@cos.org.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备05059581号-4 京公网安备11010802024360号
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.
Total Visits：143946 Visits Today：34

⁰