Predictive deadbeat control of motor phase currents with model mismatch compensation and adjustable control dynamics
The invention relates to a motor control device for controlling a motor current, with a predictive deadbeat control unit configured to, based on a motor current error input signal, use a model predictive control scheme for providing an output signal for controlling the motor current according to a deadbeat control scheme, where the deadbeat control scheme is characterized by minimizing the motor current error input signal within a preset time period; an interface unit configured to allow adjusting the preset time period by a user input; and an integrator unit configured to, based on the motor current error input signal, provide an integrator output that is added to the output signal for controlling the motor current with controlling a motor current, with the advantages of a predictive deadbeat control scheme while avoiding the problems present in the conventional predictive deadbeat approaches. The invention also relates to a corresponding method.
1. A motor control device for controlling a motor current, comprising:
a predictive deadbeat control unit configured to, based on a motor current error input signal, use a model predictive control scheme for providing an output signal (p) for controlling the motor current according to a deadbeat control scheme, where the deadbeat control scheme is characterized by minimizing the motor current error input signal (e) within a preset time period (Ts);
an interface unit configured to allow adjusting the preset time period (Ts) by a user input (u); and
an integrator unit configured to, based on the motor current error input signal (e), provide an integrator output (i) that is added to the output signal (p) for controlling the motor current;
wherein the interface unit is configured to calculate and adjust the preset time period (Ts) based on at least a parameter (Kp 0 ) contained in the user input (u).
2. The motor control device according to claim 1 , wherein:
the integrator unit has a preset integrator gain (Ki), in particular a preset constant integrator gain, and
the interface unit is configured to allow adjusting the preset integrator gain (Ki) by the user input (u).
3. The motor control device according to claim 2 , wherein:
the interface unit is configured to calculate and adjust the preset integrator gain (Ki) based on at least a parameter (Ki 0 ) contained in the user input (u).
4. The motor control device according to claim 1 , wherein:
the interface unit is configured to calculate the preset time period (Ts) and/or a preset integrator gain (Ki) based on a parameter (Ki 0 ) of the user input (u) and the parameter (Kp 0 ) of the user input (u) using a mathematical model of an electric motor which quantifies a nonlinear relation between the respective parameter (Ki 0 , Kp 0 ) of the user input (u) and the preset time period (Ts) and/or the preset integrator gain (Ki).
5. The motor control device according to claim 1 , wherein:
a parameter (Ki 0 ) and the parameter (Kp 0 ) of the user input (u) represent a set of independent parameters that include: damping ratio and settling time, or damping ratio and bandwidth, or gain margin and phase margin.
6. The motor control device according to claim 5 , wherein:
the user input (u) comprises only the parameter (Ki 0 ) and the parameter (Kp 0 ) or only the parameter (Ki 0 ) and the parameter (Kp 0 ) along with a specifier which represents a definition of a rise time.
7. The motor control device according to claim 5 , wherein:
the integrator unit has a preset integrator gain (Ki), in particular a preset constant integrator gain, and
the interface unit is configured to allow adjusting the preset integrator gain (Ki) by the user input (u).
8. The motor control device according to claim 7 , wherein:
the interface unit is configured to calculate and adjust the preset integrator gain (Ki) based on at least the parameter (Ki 0 ) contained in the user input (u).
9. The motor control device according to claim 5 , wherein:
the interface unit is configured to calculate the preset time period (Ts) and/or a preset integrator gain (Ki) based on the parameter (Ki 0 ) of the user input (u) and the parameter (Kp 0 ) of the user input (u) using a mathematical model of an electric motor which quantifies a nonlinear relation between the respective parameter (Ki 0 , Kp 0 ) of the user input (u) and the preset time period (Ts) and/or the preset integrator gain (Ki).
10. The motor control device according to claim 5 , wherein:
the user input (u) comprises only the parameter (Ki 0 ) and the parameter (Kp 0 ) or only the parameter (Ki 0 ) and the parameter (Kp 0 ) along with a specifier which represents a definition of a rise time.
11. The motor control device according to claim 1 , wherein:
the user input (u) comprises only a parameter (Ki 0 ) and the parameter (Kp 0 ) or only the parameter (Ki 0 ) and the parameter (Kp 0 ) along with a specifier which represents a definition of a rise time.
12. A robotic device having the motor control device according to claim 1 .
13. A method for controlling a motor current, comprising:
adjusting, by a user input (u), a preset time period (Ts) for a predictive deadbeat control unit which is configured to, based on a motor model and a motor current error input signal (e), use a model predictive deadbeat control scheme for providing an output signal (p), where the predictive deadbeat control scheme is characterized by minimizing the motor current error input signal (e) within the preset time period (Ts);
providing the motor current error input signal (e);
using, by the predictive deadbeat control unit, the model predictive deadbeat control scheme for providing the output signal (p) for controlling the motor current; and
adding an integrator output (i) provided by an integrator unit based on the motor current error input signal (e) to the output signal (p) for controlling the motor current;
wherein the preset time period (Ts) is adjusted based on at least a parameter (Kp 0 ) contained in the user input (u).
14. The method for controlling a motor current according to claim 13 , wherein:
the preset time period (Ts) and/or a preset integrator gain (Ki) is calculated based on a parameter (Ki 0 ) of the user input (u) and the parameter (Kp 0 ) of the user input (u) using a mathematical model of an electric motor which quantifies a nonlinear relation between the respective parameter (Ki 0 , Kp 0 ) of the user input (u) and the preset time period (Ts) and/or the preset integrator gain (Ki).
15. The method for controlling a motor current according to claim 13 , wherein:
a parameter (Ki 0 ) and the parameter (Kp 0 ) of the user input (u) represent a set of independent parameters that include: damping ratio and settling time, or damping ratio and bandwidth, or gain margin and phase margin.
16. The method for controlling a motor current according to claim 15 , wherein:
the preset time period (Ts) and/or a preset integrator gain (Ki) is calculated based on the parameter (Ki 0 ) of the user input (u) and the parameter (Kp 0 ) of the user input (u) using a mathematical model of an electric motor which quantifies a nonlinear relation between the respective parameter (Ki 0 , Kp 0 ) of the user input (u) and the preset time period (Ts) and/or the preset integrator gain (Ki).
17. The method for controlling a motor current according to claim 13 , wherein:
the user input (u) comprises only a parameter (Ki 0 ) and the parameter (Kp 0 ) or only the parameter (Ki 0 ) and the parameter (Kp 0 ) along with a specifier which represents a definition of a rise time.