Predictive Control - A Simple and Powerful Method To Control Power Converters and Drives

Predictive Control - A Simple and Powerful Method
to Control Power Converters and Drives

Ralph M. Kennel, Technische Universitaet Muenchen,Germany
Marian Kazmierkowski, Technical University of Warsaw, Poland
José Rodríguez, Universidad Técnica Federico Santa María, Valparaiso, Chile
Outline
 Introduction
 Predictive Control - Why
 Predictive Control Principles
 Predictive Control Methods
 Different Way of Thinking
Review of classical PWM
The principle of MPC in Power Electronics
Review of converter topologies controlled using MPC
Some applications of converters controlled using MPC
 Predictive Control – where’s the future ?
 Conclusions/Discussion
State of the Art : Field Oriented Control
 mains
r field coordinates stator coordinates
flux i s u s 6
j
controller e PWM

 current
controllers
us
speed is
controller e-j

model M
r 3~

encoder
Problems
of Linear Algorithms
 in cascaded control structures
speed control must be much faster than position control
and current control must be much faster than speed control
 current control must be very fast

to achieve position control with reasonable cycle times
 in the controlled system (drive, converter, …)

however, there is no time constant justifying cycle times
of 100 µs or less
Outline
 Introduction
Predictive Control
Why ?
… it is not better performance !
• more power
• more dynamics
• etc.
… we already operate our systems at the physical limits !!!

Predictive Control
Why ?
… the real reason is …
simpler handling !
… you do not need a Ph.D.

to do the set-up
General Structure
of a Predictive Controller
 prediction and switching
calculation state
power motor inertia gear etc.
electronics windings
actual machine and I
power electronics 
machine state model 
reminds slightly to state control
state control, however, is basically a linear control

predictive control is not !!!
Usual Structure of Drive Control
why PWM ?
• linearization of the inverter
consequences ?
• very high switching frequency
DC link
PI controller
Structure of a Direct Control
DC link
direct controller
Outline
 Introduction
Principle of Predictive Control
reference comparison between

commands precalculation and
reference commands
precalculation of the next switching state
behaviour for each of or switching time
the switching states can be fixed
definite number of
equivalent circuits
without switching
elements
inverter
definite number of
switching states
definite number of
switching elements
Family tree of predictive control algorithms
hysteresis
hys t
e r
e sisbased
base strategies
ds trat
e gies trajec t
o r
trajectoryy base
basedd s tr
a t
e gi
strategieses
direct torque control (DTC) direct self fast-response
adaptive switching (Takahashi/Nogushi) control (DSC) current control
pattern (ASP) (Tiitinen/Lalu) (Depenbrock) (Holtz, et.al)
(Nagy)
direct torque integral
predictive control (DTC) space-vector PWM predictive control
current control (Chapuis, et.al.) (Trzynadlowski, et.al.) (Kennel/Schröder)
(Holtz/Stadtfeld)
multilevel direct speed
PROMC hysteresis DTC control (DSPC) improved
current control (Purcell/Acarnley) (Mutschler) predictive control
(Kohlmeier et.al.) (Warmer et.al.)
direct mean torque direct self
PROMC control (DMTC) control (DSC) new predictive
voltage control (Flach, et.al.) (Bonanno, et.al.) current control
(Hintze) (Hecht)
torque pulsation
hysteresis control reduced DTC
(bang bang) (Vas, et.al.)
new direct
“space vector” torque control
control (Kang/Sul)
(Kazmierkowski, et.al.) current control
DTC with reduction
adaptive and of torque ripple (Choi/Sul)
optimized regulator (La/Shin/Hyun)
(Ackva, et.al.)
DTC + dithering
“space vector” (Noguchi, et.al.)
control DTDTC
(Wuest/Jenni) (Maes/Melkebeek)
direct current DTC-SVM
control (Lascu et.al.)
(Pfaff/Wick)
DTC-DSVM
current control (Casadei et.al) direct control
method sliding mode control of IM currents
DTC with ORS
(Salama et.al) (Emeljanov) (Mayer/Pfaff)
(Moucary et.al.)
DTC-PPWC
(Nillesen et.al.) optimal on-line-tuning digital direct digital predictive
current regulator current controller current controller
(du Toit Mouton/Enslin) (Betz/Cook/Henriksen) (Holmes/Martin)
vectorial torque control
(Attaianese, et.al.)
predictive current control
for resonant link inverter
(Oh/Jung/Youn)
trajectory
tracking control
(Holtz/Beyer)
Family tree of predictive control algorithms
Part 2 MPC
Continuous-Set-Model based strategies Finite-Set-Model based strategies

ac-ac converter
DMC
(Cutler/Ramaker) MPTC
(Rodriguez)
Modular multilevel converter
GPC (Perez/Rodriguez)
(Clarke) Predictive current control
(Rodriguez)
Direct matrix converter
CRHPC (Vargas/Rodriguez)
(Clarke/Scattolini) Predictive speed control
(Fuentes/Rodriguez/Kennel)
Indirect matrix converter
GPC--PID (Correa/Rodriguez/Espinoza)
(Nakano) Heuristic direct MPC
(Stolze/Kennel)
GPC for motor control
(Linder/Kennel) dc-ac converter
Sensorless MPC
(Wojciechowski/Strzelecki)
Fast online optimization 2L-VSI

Saliency based encoderless (Cortes/Rodriguez)
PTC
Fast gradient method for converter (Landsmann/Kennel)
control 3L-NPC
(Richter/Morari) (Geyer/Rodriguez)
Observer-based sensorless
PTC
LP solution for quadratic cost (Davari/Wang/Kennel) CHB
(Stumper/Kennel) (Perez/Rodriguez/Cortes)
Weighting factors design

(Cortes/Rodriguez) Flying capacitor converter
Explicit MPC (Lezana/Aguilera/Quevedo)
(Bemporad)
Weighting factor optimization
(Davari/Kennel)
MPC with MPT
(Kvasnica)
ac-dc converter
2-steps MPC of 3 phase UPS
MPC for PMSM inverter
(Kuehl/Bolognani/Kennel) (Cortes/Rodriguez)
Current source rectifier
(Correa/Rodriguez)
Dead beat control FPGA-based PCC
(Lee) (Naouar/Monmasson)
dc-dc converter
(Geyer/Morari)
Outline
 Introduction
Outline
 Introduction
 Trajectory Based Predictive Control

 Hysteresis Based Predictive Control
 Long-Range Predictive Control
Example : Trajectory Based Predictive Control
Predictive Current Control acc. to Kennel
DC drive supplied by a line commutated thyristor inverter
+ + +
≈ U0
grid =
- - -
Predictive Current Control acc. to Kennel
Trajectory Based Predictive Control Strategies
system states are forced to follow

(pre-)defined natural reference trajectories
difference to sliding mode control

 there the trajectories are not natural
Direct Speed Control acc. to Mutschler
ud a=
ek+1/ak+1
* e model and uk
=
prediction ~ ek+3/ak+3
Sk+1
 Sk

 is us
–Hy +Hy
M Sk+2 e =  – ref
 3~ ek/ak
ek+2/ak+2
Characteristics
of Trajectory Based Predictive Control
• system states are forced to follow (pre-)defined reference trajectories

• switching takes place at intersections
between different system-trajectories or at (pre-)defined instants
• switching frequency of the inverter can be fixed to a constant value
• control behaviour comparable to feedforward control
• exact knowledge of system parameters is required
• appropriate for realisation by digital circuits or controllers
Direct Self Control (DSC) acc. to Depenbrock
 
Example : Hysteresis Based Predictive Control
Direct Self Control acc. to Takahashi
Outline
 Introduction

Hysteresis Based Predictive Control Strategies
switching of inverter takes place

at the (multi-dimensional) border(s)
of a hysteresis area
Predictive Current Control acc. to Holtz
ud jIm
* uk
is di n
predict =
i s di sk ~ s dt
u sk
is dt us i s*
model
is
M is
 3~
0 Re
Characteristics
of Hysteresis Based Predictive Control
• switching takes place at borders of a hysteresis area

• a maximum error can be (pre-)defined
• switching frequency of the inverter is not constant
• control behaviour comparable to feedback control
• exact knowledge of system parameters is not required
• appropriate for realisation by analog circuits
Comparison
of different
predictive control
schemes
Flux Trajectories
10 Hz fundamental frequency
500 Hz switching frequency
standard PWM
DSC (Depenbrock)
bang-bang control
DSC (Takahashi)
7 % hysteresis
predictive control
(Holtz)
DSC (Takahashi)
2 % hysteresis
source Andreas Haun, Vergleich von Steuerverfahren …, VDI-Fortschrittsbereichte, Reihe 21, Nr. 113, 1992:
Flux Trajectories
standard PWM
DSC (Depenbrock)
bang-bang control
DSC (Takahashi)
7 % hysteresis
predictive control
(Holtz)
DSC (Takahashi)
2 % hysteresis
Stator Current Trajectories
standard PWM
DSC (Depenbrock)
bang-bang control
DSC (Takahashi)
7 % hysteresis
predictive control
(Holtz)
DSC (Takahashi)
2 % hysteresis
Frequency Spectrum of Torque
a) 40 Hz fundamental frequency
b) 45 Hz fundamental frequency
1. standard PWM
2. bang-bang control
3. predictive control (Holtz)
4. DSC (Depenbrock)
5. DSC (Takahashi) with 7 % hysteresis
Additional Losses
under Inverter Supply
a) variable fundamental frequency
b) 40 Hz fundamental frequency
variable switching frequency
1. standard PWM
2. bang-bang control
3. predictive control (Holtz)
4. DSC (Depenbrock)
Outline
 Introduction

predictive control categories
another way of distinction
switching control
SVM directly
(space vector modulation)
• direct control of • DTC

steps of 1
IM currents • DSC
prediction • DFC • DSPC
(prediction
horizon)
• DMC • DMPC
>1 • GPC
The „Human Behaviour“ of DMPC
• the player calculates

in advance
all possible moves
until a „prediction horizon“
• the player chooses
the move with the best
expectations of success
• after each opponent‘s move
pre-calculation and
DMPC is like playing chess optimization is repeated
Model Predictive Control
History  Future
Page 44
Model Predictive Control
Overview
Page 45
Direct Model Predictive Control
System Model / Cost Function
Page 46
Direct Model Predictive Control
System Model / Cost Function
Page 47
Characteristics
of Model Based Predictive Control
• basic ideas are derived from state-space control
• the past is explicitely considered (mostly by the system state)
• future control values are pre-calculated and optimized
until a (pre-)defined „horizon“
• the first of the precalculated control values only
is transmitted to the controlled system
• model parameters can be estimated on-line
• extension to MIMO-control is possible with little additional effort
• use of non-linear model is possible for non-linear control systems
• a lot of calculation power is required
Features of
(Longe Range) Predictive Control
Advantages
• possibility to use foreknowledge about drive system (system model)
• inverter limitations and dynamic behaviours are taken into account
• improved representation of non-linear systems
• no need for time challenging cascade structure
• improved dynamic behaviour
Disadvantages
• high processing capability required
• for industrial use change in teaching engineers necessary
• stationary accuracy and dynamic behaviour
depend on accurracy of model parameters
Outline
 Introduction
Different Way of Thinking
in Model Based Predictive Control
1. model of the controlled system

this is no difference to conventional control
the better the model, the better the prediction
2. cost function
the engineer has to learn to describe
what he wants the controlled system really to do !!!
3. stability
… that‘s a really good question … next question ?
Page 51
Different Way of Thinking
in Model Based Predictive Control
1. model of the controlled system

this is no difference to conventional control
the better the model, the better the prediction
2. cost function
the engineer has to learn to describe
what he wants the controlled system really to do !!!
3. stability
… that‘s a really good question … next question ?
Page 52
Outline
 Introduction
Predictive Control: A new and Powerful Alternative for
Power Electronics and Drives
Jose Rodriguez
Fellow IEEE
Distinguished Lecturer IEEE Universidad Técnica Federico Santa María
Valparaíso, Chile.
IEEE Energy Conversion Congress and Exposition, ECCE 2014

Outline
 Introduction
 Review of classical PWM
 The principle of MPC in Power Electronics
 Review of converter topologies controlled using MPC
 Some applications of converters controlled using MPC
-2-
Symposium onConversion
IEEE Energy Predictive Control
Congressof Electrical DrivesECCE
and Exposition, and Power
2014 Electronics - 2013
Outline
 Introduction
 Review of classical PWM
 The principle of MPC in Power Electronics
 Review of converter topologies controlled using MPC
 Some applications of converters controlled using MPC
 Comparison between MPC and classical solutions

– In current control
– In drives
 Open questions and future work
 Conclusions
-3-
Introduction
 Converter control methods
-4-
Introduction
 Converter control methods
 Predictive control methods
-5-
Review of Classical PWM
 The control of power converters and of energy is based on the “mean

value principle”.
 Example;
R C
 Mean value of 𝑣𝐿
𝑡𝑜𝑛
𝑣𝐿 = 𝑉 = 𝐷𝑉𝐵 𝐷: duty cycle
𝑇𝑠 𝐵
 Changing the duty cycle you can control the energy flow to the load.
 This principle comes from analog electronics.
 It is an old principle repeated today with microprocessors.
-6-
 Subharmonic control
 The same principle of “mean value” is used to control an inverter.
 Example:
R C
 At every period of the carried, the mean value 𝑣𝐿 is generated.

 This strategy comes from the analog electronics.
 Using microprocessors we have replaced the oscillators by counters,
but the principle remains the same!
-7-
 Example:
R C

-8-
 Example:
R C

-9-
 Example:
R C

-10-
 Example:
R C

-11-
 The same principle of “mean value” is used to control an inverter
 Example:
R C

-12-
 Space Vector Modulation (SVM)
 Voltage vectors of a 2-level inverter  Modulation principle
1
𝑣∗ = 𝑣 𝑡 + 𝑣𝑏 𝑡𝑏 + 𝑣𝑜 𝑡𝑜
𝑇 𝑎 𝑎
𝑡𝑎 + 𝑡𝑏 + 𝑡𝑜 = 𝑇
 Calculate times 𝑡𝑎 and 𝑡𝑏 every period of the carried, so the mean value 𝑣 is
equal to the reference 𝑣 ∗ .
 We have learned that this is the only way to control energy.
-13-
 Space Vector Modulation (SVM)
 Voltage vectors of a 2-level inverter  Modulation principle
1
𝑣∗ = 𝑣 𝑡 + 𝑣𝑏 𝑡𝑏 + 𝑣𝑜 𝑡𝑜
𝑇 𝑎 𝑎
𝑡𝑎 + 𝑡𝑏 + 𝑡𝑜 = 𝑇
 Calculate times 𝑡𝑎 and 𝑡𝑏 every period of the carried, so the mean value 𝑣 is
equal to the reference 𝑣 ∗ .
 We have learned that this is the only way to control energy.
Predictive control offers a completely different and

powerful approach to control power converters
-14-
 Current control in a two-level voltage source inverter.
Vectors generated by the 2L-VSI
Power circuit of a 2L-VSI 2

𝑣= 𝑣𝑎𝑁 + 𝑎 𝑣𝑏𝑁 + 𝑎2 𝑣𝑐𝑁
3
𝑎 = 𝑒𝑗 2𝜋/3
-15-
 Mathematical model of the inverter
2
𝑖 = 𝑖𝑎 + 𝑎𝑖𝑏 + 𝑎2 𝑖𝑐
3
2
𝑣 = 𝑣𝑎 + 𝑎𝑣𝑏 + 𝑎2 𝑣𝑐
3
𝑑𝑖
𝑣 = 𝑅𝑖 + 𝐿 + 𝑒
𝑑𝑡
Using Euler’s discretization:
𝑑𝑖 𝑖 𝑘 + 1 − 𝑖(𝑘)
≈
𝑑𝑡 𝑇𝑠
Equation for current prediction:
𝑅𝑇𝑠 𝑇𝑠
𝑖𝑃 𝑘+1 = 1− 𝑖 𝑘 + 𝑉 𝑘 −𝑒 𝑘
𝐿 𝐿
-16-
 Current control in a two-level VSI: The algorithm

1) The load and reference currents are measured at sampling
interval k
-17-

interval k
2) Use the prediction equation to calculate the value of the current

in the next sampling interval (k+1) for each voltage vector
-18-

interval k

3) For each voltage vector, calculate the cost function:

𝑔 = 𝑖𝛼∗ − 𝑖𝛼𝑃 + 𝑖𝛽∗ − 𝑖𝛽𝑃
-19-

interval k


4) Select the switching state that minimizes the cost function
-20-

interval k


4) Select the switching state that minimizes the cost function
5) Apply the new switching state
-21-
 Current control in a two-level VSI: Block diagram
-22-
 Current control in a two-level VSI: Algorithm flowchart
-23-
 Current control in a two-level VSI :
Voltage and current waveforms
-24-
 Some preliminary conclusions:

– MPC looks simple. Actually, it is simple and intuitive.
– It is a different approach from a conceptual point of view.
– Needs a deep and rigorous comparison with standard methods:
parameter variations, noise, robustness, model mismatches, etc.
– Good performance. It works!
-25-
 Some preliminary conclusions:

– MPC looks simple. Actually, it is simple and intuitive.
– It is a different approach from a conceptual point of view.
– Needs a deep and vigorous comparison with standard methods:
parameter variations, noise, robustness, model mismatches, etc.
– Good performance. It works!
J. Rodríguez, J. Pontt, C.A. Silva, P. Correa, P. Lezana, P. Cortés and U.

Ammann, “Predictive current control of a voltage source inverter”, Industrial
Electronics, IEEE Transactions on, vol. 54, no. 1, pp. 495-503, 2007
• Award: Best paper of year 2007!

• Second most cited paper of year 2007! (405 citations, Google Scholar Sept. 2013)
-26-
Review of converter topologies
controlled using MPC
-27-
-28-
-29-
-30-
-31-
-32-
 Some basic control objectives using MPC in

power electronics
-33-
 Current control in a three-level neutral point

clamped inverter
-34-
 Current control in a three-level neutral point

clamped inverter
𝑔 = 𝑖𝛼∗ − 𝑖𝛼𝑃 + 𝑖𝛽∗ − 𝑖𝛽𝑃 + 𝜆𝑛 𝑛𝑐 + 𝜆𝑣 𝑣𝑐1
𝑃 𝑃
− 𝑣𝑐2
From: (R. Vargas, et al, “Predictive Control of a Three-Phase Neutral-Point-Clamped

Inverter”, IEEE-TIE, vol. 54, no. 5, pp. 2697-2705, Oct. 2007).
-35-
 Current control in a cascaded H-bridge inverter
-36-
 Cost function to be minimized:
-37-
 Cost function to be minimized:
 Obtained with a dSPACE DS1104

 A lot of calculations
 Modified strategy to reduce the number of calculations has
been developed (use of adjacent vectors)
 More complexity needed to cancel input current harmonics.
From: (P. Cortes, et al, “Model Predictive Control of Multilevel Cascaded H-Bridge Inverters”,
IEEE-TIE, vol. 57, no. 8, pp. 2691-2699, Aug. 2010).
-38-
 Current control in a flying capacitor inverter
𝑔 = 𝑖𝛼∗ − 𝑖𝛼𝑃 + 𝑖𝛽∗ − 𝑖𝛽𝑃 + 𝜆𝑐1 |𝑣𝑐1

∗ 𝑃
− 𝑣𝑐1 ∗
| + 𝜆𝑐2 𝑣𝑐2 𝑃
− 𝑣𝑐2
-39-
 Current control in a flying capacitor inverter
From: (E. I. Silva, et al, “Predictive Control of a Flying Capacitor Converter”, Proc. IEEE-
ACC, pp. 3763-3768, 2007).
-40-
 Application of MPC in matrix converters
-41-
 Continuous equations
- Load equations
𝑑𝑖𝑜
𝑣𝑜 = 𝑅𝑙 𝑖𝑜 − 𝐿𝑙
𝑑𝑡
- Input filter equations
𝑑𝑖𝑠
𝑣𝑠 = 𝑣𝑖 + 𝑅𝑓 𝑖𝑠 + 𝐿𝑓
𝑑𝑡
𝑑𝑣𝑖
𝑖𝑠 = 𝑖𝑖 + 𝐶𝑓
𝑑𝑡
- Instantaneous reactive power on the input

𝑞𝑠 = 𝑣𝑠𝛼 𝑖𝑠𝛽 − 𝑣𝑠𝛽 𝑖𝑠𝛼
-42-
 Prediction equations
- Current load prediction (Euler)

𝑅𝑙 𝑇𝑠 𝑘 𝑇𝑠 𝑘
𝑖𝑜𝑘+1 = 1− 𝑖𝑜 + 𝑣𝑜
𝐿𝑙 𝐿𝑙
- Filter equations (State-space Model)
𝑣𝑖𝑘+1 = 𝑐1 𝑣𝑖𝑘 + 𝑐2 𝑖𝑠𝑘 + 𝑐5 𝑣𝑠𝑘 + 𝑐6 𝑖𝑖𝑘
𝑖𝑠𝑘+1 = 𝑐3 𝑣𝑖𝑘 + 𝑐4 𝑖𝑠𝑘 + 𝑐7 𝑣𝑠𝑘 + 𝑐8 𝑖𝑖𝑘
𝑐1 𝑐2 𝐴𝑐 𝑇𝑠
𝑐5 𝑐6 −1 𝑒 𝐴𝑐 𝑇𝑠 − 𝐼
𝑐3 𝑐4 = 𝑒 𝑐7 𝑐8 = 𝐴 𝑐 2𝑥2 𝐵𝑐
1 1
0 0 −
𝐶𝑓 𝐶𝑓
𝐴𝑐 = , 𝐵𝑐 =
1 𝑅𝑓 1
− − 0
𝐿𝑓 𝐿𝑓 𝐿𝑓
-43-
 Reminder: How the classical current control and
modulation of a Matrix Converter is done today?
 Application times of the switching states

𝑇𝛼 𝑇𝜇 𝑇𝛼𝜇
𝑑𝛼 = 𝑑𝜇 = 𝑑𝛼𝜇 = 𝑑𝛼 𝑑𝜇 =
𝑇𝑠 𝑇𝑠 𝑇𝑠
𝑇𝛽 𝑇𝑣 𝑇𝛽𝜇
𝑑𝛽 = 𝑑𝑣 = 𝑑𝛽𝜇 = 𝑑𝛽 𝑑𝜇 =
𝑇0𝑣 𝑇0𝑐 𝑇𝛼𝑣

𝑑0𝑣 = = 1 − 𝑑𝛼 − 𝑑𝛽 𝑑0𝑐 = = 1 − 𝑑𝜇 − 𝑑𝑣 𝑑𝛼𝑣 = 𝑑𝛼 𝑑𝑣 =
𝑇0 𝑇𝛽𝑣
𝑑0 = 1 − 𝑑𝛼𝜇 − 𝑑𝛽𝜇 − 𝑑𝛼𝑣 − 𝑑𝛽𝑣 = 𝑑𝛽𝑣 = 𝑑𝛽 𝑑𝑣 =
𝑇𝑠 𝑇𝑠
-44-
 Predictive current control of a Matrix Converter
 Cost function
- Output current control
∗ 𝑃 ∗ 𝑃
𝑔 = 𝑖0𝛼 − 𝑖0𝛼 + 𝑖0𝛽 − 𝑖0𝛽
- Output current and input reactive power control
∗ 𝑃 ∗ 𝑃
𝑔 = 𝑖0𝛼 − 𝑖0𝛼 + 𝑖0𝛽 − 𝑖0𝛽 − 𝜆𝑞 |0 − 𝑞𝑠 |
-45-
∗ − 𝑖𝑃 + 𝑖 ∗ − 𝑖 𝑃
𝑔 = 𝑖𝑜𝛼 𝑜𝛼 𝑜𝛽 𝑜𝛽
Only control of
load current
-46-
∗ − 𝑖𝑃 + 𝑖 ∗ − 𝑖 𝑃
𝑔 = 𝑖𝑜𝛼 ∗ − 𝑖𝑃 + 𝑖 ∗ − 𝑖 𝑃 − 𝜆 0 − 𝑞
𝑔 = 𝑖𝑜𝛼
𝑜𝛼 𝑜𝛽 𝑜𝛽 𝑜𝛼 𝑜𝛽 𝑜𝛽 𝑞 𝑠
Only control of Control of load current

load current and reactive power
-47-
 Field oriented speed control of an induction machine
driven by a Matrix Converter using MPC for current control
∗ − 𝑖𝑃 + 𝑖 ∗ − 𝑖 𝑃
𝑔 = 𝑖𝑜𝛼 𝑜𝛼 𝑜𝛽 𝑜𝛽
Only control of
load current
-48-
 Field oriented speed control of an induction machine
driven by a Matrix Converter using MPC for current control
∗ − 𝑖𝑃 + 𝑖 ∗ − 𝑖 𝑃 ∗ − 𝑖𝑃 + 𝑖 ∗ − 𝑖 𝑃 − 𝜆 0 − 𝑞
𝑔 = 𝑖𝑜𝛼 𝑜𝛼 𝑜𝛽 𝑜𝛽 𝑔 = 𝑖𝑜𝛼 𝑜𝛼 𝑜𝛽 𝑜𝛽 𝑞 𝑠
Only control of Control of load current

load current and reactive power
From: (R. Vargas, et al, “Predictive Current Control of an Induction Machine Fed by a Matrix
Converter With Reactive Power Control”, IEEE-TIE, vol. 55, no. 12, pp. 4362-4371, Dec. 2008).
-49-
Some applications of converters
controlled using MPC
-50-
 Distributed generation system
 Drives:
- Predictive Torque Control
- Predictive Speed Control
 Active filters
 Uninterruptible power supplies
 Multiphase converters
 Non-conventional renewable energy
-51-
 Application of MPC in a distributed generation
system (NPC inverter)
MPC for LCL coupled

Inverter-based distributed
generation system
𝑔 = 𝜆𝑖 𝑖2∗ − 𝑖2𝑃 + 𝜆𝑣 𝑣𝑐1

𝑃 𝑃
− 𝑣𝑐2 + 𝜆𝑛 𝑛𝑠𝑤 + 𝜆𝑟 𝑊1 𝑖1𝑃 1. Injected current control
2. Capacitor balance control
3. Commutations reduction
1 2 3 4
4. Internal resonance filter
-52-
system
Converter Side
Current i1 [A]
Grid Current
i2 [A]
-53-
system
Converter Side Active Power

Current i1 [A] P [MW]
Grid Current Reactive Power

i2 [A] Q [MVAr]
From: (H. Miranda, et al, “Model Predictive Current Control for High-Power Grid-Connected
Converters With Output LCL Filter”, Proc. IEEE-IECON, pp. 633-638, 2009).
-54-
 Drives
High
Performance
Drives
Model
Field Oriented Direct Torque
Predictive
Control (FOC) Control (DTC)
Control (MPC)
Predictive Field
Predictive Predictive
Oriented
Torque Control Speed Control
Control
Direct Cascaded
-55-
 Predictive Torque Control (PTC)

- Induction machine equations
Stator voltage 𝑑𝜓𝑠

𝑣𝑠 = 𝑅𝑠 𝑖𝑠 +
𝑑𝑡
Rotor voltage 𝑑𝜓𝑟

0 = 𝑅𝑟 𝑖𝑟 + − 𝑗𝜔𝜓𝑟
𝑑𝑡
Stator flux 𝜓𝑠 = 𝐿𝑠 𝑖𝑠 + 𝐿𝑚 𝑖𝑟
Rotor flux 𝜓𝑟 = 𝐿𝑚 𝑖𝑠 + 𝐿𝑟 𝑖𝑟
Electrical torque 3
𝑇 = 𝑝𝐼𝑚{𝜓𝑠∗ ⋅ 𝑖𝑠 }
2
-56-
 Predictive Torque Control

- Prediction equations
Stator flux
𝜓𝑠𝑘+1 = 𝜓𝑠𝑘 + 𝑇𝑠 𝑣𝑠𝑘 − 𝑅𝑠 𝑇𝑠 𝑖𝑠𝑘
Stator current
𝑇𝑠 𝑘 𝑇𝑠 1 𝑘𝑟
𝑖𝑠𝑘+1 = 1+ 𝑖 + − 𝑘𝑟 𝑗𝜔 𝜓𝑟𝑘 + 𝑣𝑠𝑘
𝜏𝜎 𝑠 𝜏𝜎 + 𝑇𝑠 𝑅𝜎 𝜏𝑟
Electrical torque
𝑘+1
3
𝑇 = 𝑝𝐼𝑚 𝜓𝑠𝑘+1∗ ⋅ 𝑖𝑠𝑘+1
2
-57-
 Block diagram of Predictive Torque Control (PTC)
𝑔 = 𝑇𝑟𝑒𝑓 − 𝑇𝑝𝑟𝑒𝑑 + 𝜆𝜓 𝜓𝑟𝑒𝑓 − 𝜓𝑝𝑟𝑒𝑑
-58-
 Speed control of an induction machine using PTC
From: (J. Rodriguez, et al, “High-Performance Control Strategies for Electrical Drives: An
Experimental Assessment”, IEEE-TIE, vol. 59, no. 2, pp. 812-820, Feb. 2012).
-59-
 A key issue in PTC is the weighting factor selection
- Commonly, this factor is obtained by a heuristic procedure
- However, there are two alternatives to avoid the weighting

factor tuning:
1. Predictive field-oriented control (PFOC)
2. Ranking-based PTC
-60-
 1) Predictive field-oriented control
- Equivalences between torque/flux with synchronous stator

currents
∗ 1 ∗
2𝐿𝑟
𝑖𝑠𝑑 ≈ 𝜓 ∗ 𝑖𝑠𝑞 = 𝑇∗
𝐿𝑠 𝑠 3𝐿𝑚 𝑝𝜓𝑟𝑑
- Simplified cost function without any weighting factor
∗ ∗ −𝑖 𝑝 𝑝
𝑔 = 𝑖𝑠𝑑 − 𝑖𝑠𝑑 + 𝑖𝑠𝑞 𝑠𝑞
-61-
-62-
Speed
Torque
Stator Flux
Stator Current
-63-
 2) Ranking-based PTC
- Each obtained error is evaluated separately and sorted

𝑔1 = 𝑇 ∗ − 𝑇 𝑝 2
𝑔2 = 𝜓𝑠 ∗ − 𝜓𝑠 𝑝 2
- A ranking value is assigned to each error value: voltage

vectors with lower error are assigned a lower ranking
𝑔1 → 𝑟1
𝑔2 → 𝑟2
- Finally, the voltage vector with the minimum average value
of its rankings is selected, resulting in an equal compromise
of tracking for both variables, torque, and flux.
𝑟1 + 𝑟2
𝑣𝑠𝑜𝑝𝑡 = arg 𝑣0 ,…,𝑣7 min
2
-64-
 2) Ranking-based PTC
Speed
Torque
Stator Flux
Stator Current
From: (C. A. Rojas, et al, “Predictive Torque and Flux Control Without Weighting Factors”, IEEE-
TIE, vol. 60, no. 2, pp. 681-690, Feb. 2013).
-65-
 How to control the speed of a machine?
- without linear speed controller
- without PWM
- without linear current controllers
 Direct or cascaded speed controller ?
-66-
 Predictive Speed Control of a PMSM
- Direct alternative
-67-

2
𝑝 2 𝑝 2 𝑝
𝑔1 = 𝜆𝜔𝑟 𝜔𝑟∗ − 𝜔𝑟 + 𝜆𝑖𝑑 0 − 𝑖𝑑 + 𝜆𝑖𝑞𝑓 0 − 𝑖𝑞𝑓 + 𝑔𝑐 𝑖𝑑 , 𝑖𝑞
1 2
1. rotor speed tracking
2. Maximization of the torque per ampere ratio
-68-

2
𝑝 2 𝑝 2 𝑝
𝑔= 𝜆𝜔𝑟 𝜔𝑟∗ − 𝜔𝑟 + 𝜆𝑖𝑑 0 − 𝑖𝑑 + 𝜆𝑖𝑞𝑓 0 − 𝑖𝑞𝑓 + 𝑔𝑐 𝑖𝑑 , 𝑖𝑞
1 2 3 4
3. Minimization of high-frequency torque components
4. Stator current limitations
-69-

2
𝑝 2 𝑝 2 𝑝
𝑔= 𝜆𝜔𝑟 𝜔𝑟∗ − 𝜔𝑟 + 𝜆𝑖𝑑 0 − 𝑖𝑑 + 𝜆𝑖𝑞𝑓 0 − 𝑖𝑞𝑓 + 𝑔𝑐 𝑖𝑑 , 𝑖𝑞
1 2 3 4
3. Minimization of high-frequency torque components
4. Stator current limitations
 How to limit the current?

𝑝 𝑝
∞ 𝑖𝑓 𝑖𝑞 > 𝑖𝑞𝑚𝑎𝑥 𝑜𝑟 𝑖𝑑 > 𝑖𝑑𝑚𝑎𝑥
𝑔𝑐 = 𝑝 𝑝
0 𝑖𝑓 𝑖𝑞 ≤ 𝑖𝑞𝑚𝑖𝑛 𝑜𝑟 𝑖𝑑 ≤ 𝑖𝑑𝑚𝑖𝑛
-70-
From: (Fuentes, et al, “Predictive Speed Control of a Synchronous Permanent Magnet

Motor”, IEEE-ICIT 2010).
-71-
Diagram of the overall grid

connected PV system
configuration implementing
MPPT through the MPC
technique
-72-
Diagram of the overall grid

connected PV system
configuration implementing
MPPT through the MPC
technique
∗
𝑔 = 𝜆𝑣 𝑣𝑑𝑐 ∗ −𝑖
− 𝑣𝑑𝑐 + 𝜆𝑖 𝑖𝑝𝑣
𝑝 𝑝 1. dc-link voltage control
𝑝𝑣
2. Input current control
1 2
From: (P. E. Kakosimos, et al, “Implementation of Photovoltaic Array MPPT Through Fixed
Step Predictive Control Technique”, Renewable Energy, pp. 2508-2514, 2011).
-73-
𝑟𝑒𝑓 𝑝𝑟𝑒𝑑
𝑔 = 𝑣𝑜 − 𝑣𝑜
-74-

Output voltages and currents for a passive load step
-75-

Output voltages and currents in steady state for a nonlinear load
From: (P. Cortes, et al, “Model Predictive Control of an Inverter With Output LC Filter for UPS
Applications”, IEEE-TIE, vol. 56, no. 6, pp. 1875-1883, June 2009).
-76-
 Multiphase converters
- Four-leg two level voltage source inverter
Conventional
𝑔1 𝑘 + 1 = ||𝑖𝑜∗ 𝑘 + 1 − 𝑖𝑜 𝑘 + 1 || modulation
3D-SVM
Predictive current control
-77-
- Four-leg two level voltage source inverter
Balanced load Unbalanced load
From: (J. Rodriguez, et al, “Predictive Current Control of Three-Phase Two-Level Four-
Leg Inverter”, IEEE-EPE-PEMC, pp. T3.106-110, 2010).
-78-
 PTC of an induction machine driven by a matrix
converter
Without control of qs 𝑔 = 𝑇𝑟𝑒𝑓 − 𝑇𝑝𝑟𝑒𝑑 + 𝜆𝜓 𝜓𝑟𝑒𝑓 − 𝜓𝑝𝑟𝑒𝑑
With control of qs 𝑔 = 𝑇𝑟𝑒𝑓 − 𝑇𝑝𝑟𝑒𝑑 + 𝜆𝜓 𝜓𝑟𝑒𝑓 − 𝜓𝑝𝑟𝑒𝑑 − 𝜆𝑞 0 − 𝑞𝑠
-79-
 PTC in a matrix converter
Without control of qs
-80-
 PTC in a matrix converter
Without control of qs With control of qs
-81-
 PTC in a matrix converter: Speed reversal
-82-
 PTC in a matrix converter: Speed reversal
From: (R. Vargas, U. Ammann, B. Hudoffsky, J. Rodriguez, and P. Wheeler, “Predictive torque
control of an induction machine fed by a matrix converter with reactive input power control,”
IEEE-TIE, vol. 25, no. 6, pp. 1426-1438, June 2010).
Best paper award 2010 of the Industrial Power Electronics

-83-
Comparison between MPC and
classical solutions
-84-
Comparison of operating principle
-85-
-86-
-87-
-88-
-89-
Comparison between MPC and classical solutions
 Performance criteria used for comparison:

– Total harmonic distortion 2
𝑋𝑅𝑀𝑆
𝑇𝐻𝐷 = −1
𝑋1,𝑅𝑀𝑆
– Root mean square error 1
1 2
𝑅𝑀𝑆𝐸 = 𝜀𝛼2 + 𝜀𝛽2 𝑑𝑡
𝑇
– Integral average error
1 1
2 2
𝐼𝐴𝐸 = 𝜀𝛼2 + 𝜀𝛽 𝑑𝑡
𝑇
– Settling time
-90-
 Conditions for the comparison

– Similar average switching frequency
1
𝑓𝑠 = (𝑁𝑎 + 𝑁𝑏 + 𝑁𝑐 )
3𝑇
• PI+SVM
𝑓𝑠 ≈ 4.0[𝑘𝐻𝑧]
• MPC
– PI controller in synchronous rotating coordinates for avoiding

steady-state error.
-91-
 PI controller
𝑇𝑠𝑒𝑡𝑡𝑙𝑖𝑛𝑔 = 12.5[𝑚𝑠]
-92-
 PI controller  Predictive controller
𝑇𝑠𝑒𝑡𝑡𝑙𝑖𝑛𝑔 = 12.5[𝑚𝑠] 𝑇𝑠𝑒𝑡𝑡𝑙𝑖𝑛𝑔 = 1.5[𝑚𝑠]
-93-
 Steady-state performance:
Index MPC PI+SVM
RMSE 0.1928 0.1466
IAE 0.1772 0.1322
THDv [%] 86.20 76.50
THDi [%] 2.16 1.94
-94-
 High Performance Speed Control of an AC-Machine:
- Field Oriented Control (FOC)
- Direct Torque Control (DTC)
- Predictive Torque Control (PTC)
-95-
-96-
-97-
-98-
-99-
-100-
-101-
 Torque response comparison
FOC (black) and DTC (gray)
PTC (black) and DTC (gray)
-102-
Open questions and future work
-103-
 Long prediction horizon FCS-MPC?

- increased calculation time
- different alternatives:
short, long prediction horizon
fixed or variable prediction horizon
- different optimizations: branch and bound, dynamic

programming
-104-
 Calculation procedure of weighting factors

- offline, real-time, heuristic values, optimal value...
 Steady-state error issues
- multi-sampling, integrative effects, adaptive models…
 Fixed or variable switching frequency?
- losses, resonances, EMI, application dependency…
-105-
Remark
 Why is MPC so suitable for Power Electronics?
-106-
Remark

1. The Power Converters (the plant) has a discrete nature.
(Finite number of switching states).
2. The controller has a discrete nature (the microprocessor).
3. MPC adapts in a very natural and direct form the plant

with the controller, because both are discrete.
4. It is not necessary to linearize the system.
-107-
Remark

1. The Power Converters (the plant) has a discrete nature.
Finite number of switching states.
2. The controller has a discrete nature (the microprocessor).
3. MPC adapts in a very natural and direct form the plant

with the controller, because both are discrete.
4. It is not necessary to linearize the system.
 My students: Why to study PWM if we have MPC?
-108-
Conclusions
 MPC presents a new approach to the control of

electrical energy using power semiconductors.
 The research work developed so far has demonstrated

that, in principle, MPC works!
-109-
Conclusions
 MPC presents a new approach to the control of

electrical energy using power semiconductors.
 The research work developed so far has demonstrated

that, in principle, MPC works!
 MPC can be successfully implemented with existing

microprocessors.
 Usually, MPC introduces a simplification in the control

algorithm (not always!).
-110-
Conclusions
 The performance of converters using MPC is

comparable with that of existing methods.
 To find industrial use, the future research work must

demonstrate that MPC can introduce advantages in
terms of simplicity and performance (what is not easy!)
-111-
Conclusions


This is a very attractive and emerging research area!
-112-
Conclusions


This is a very attractive and emerging research area!

With the potential to replace PWM!
-113-
Predictive Control: A new and Powerful Alternative for
Power Electronics and Drives
J. Rodríguez, Fellow IEEE
Universidad Técnica Federico Santa María

Valparaíso, Chile.
Thanks for your attention
IEEE Energy Predictive Control of Electrical
Congress Drives and
and Exposition, ECCEPower Electronics - 2013
2014
Outline
 Introduction
Some more applications
Saliency based
Overview
Encoderless Predictive Torque Control Predictive

Torque
without Signal Injection Control
Saliency
Tracking
P. Landsmann, D. Paulus, P. Stolze and R. Kennel Simulation

Results
Technische Universitaet Muenchen
Munich Germany Measure-
ments
Conclusion
Institute for Electrical Drive Systems & Power Electronics – Technische Universität München
Arcisstr. 21, D-80333 Munich - peter.landsmann@tum.de
Overview
Basic Idea: Predictive

Torque
Control
Saliency
A Predictive Torque Controller Tracking
neglecting the saliency in the model Simulation

Results
causes a prediction error Measure-

ments
which contains the angle information Conclusion
Predictive Torque Control
Overview
Predictive
Torque
Control
Saliency
Tracking
Simulation
Results
Measure-
ments
Conclusion
 Current and PM flux linkage from
measurements
 7 voltages vectors from inverter Overview
Predictive
 prediction of current and Torque
Control
respective torque
Saliency
Tracking
Simulation
 Selecting optimum of cost function Results
Measure-
ments
Conclusion
Overview
Predictive
Torque
Control
Saliency
Tracking
Simulation
Results
 Discrete model of the machine Measure-

ments
 Current prediction based on Conclusion
mean inverse inductance
Saliency Tracking Approach
Predicted current progression
Overview
Predictive
Torque
Control
Real current progression Saliency

Tracking
Simulation
Prediction error Results
Measure-
ments
Conclusion
Saliency Tracking Approach
Measured prediction error
Overview
Predictive
Reconstructed prediction error Torque
Control
Saliency
Tracking
PLL controller input Simulation

Results
Measure-
ments
Conclusion
Simulation Results for PMSM
Simulation parameter of PMSM

Overview
Predictive
Torque
Control
Saliency
Tracking
Simulation
Speed controlled encoderless predictive torque control Results
Measure-
ments
Conclusion
Simulation Results for PMSM
Speed controlled step response to rated speed
Overview
 very good dynamics

Predictive
in simulation Torque
Control
Saliency
Tracking
 dependency on
torque gradients Simulation
Results
Measure-
ments
Conclusion
Measurements with Reluctance Machine
Data of transverse laminated RM Overview
Predictive
Torque
Control
Saliency
Tracking
Simulation
Results
Measure-
ments
Conclusion
Speed controlled step response to 160% rated speed

Overview
Predictive
Torque
Control
Saliency
Tracking
Simulation
Results
Measure-
ments
Conclusion
Response to 66% rated torque load step at speed controlled standstill
Overview
Predictive
Torque
Control
Saliency
Tracking
Simulation
Results
Measure-
ments
Conclusion
Summary
Proposed Scheme:
 Neglect the saliency in PTC equations Overview
 Prediction error contains angle information

 Reconstruct Prediction Error using PLL angle
Predictive
Torque
Control
 Vectorproduct of both is PLL input Saliency

Tracking
Benefits: Simulation
Results
 Saliency based: Measure-
 permanent operation at standstill

ments
 No signal injection:
Conclusion
 operation at high speed as well as at standstill
Encoderless Control with Arbitrary Injection
„Limitations“ of HF Injection Methods
- HF injection  voltage margin  limitation to medium and low speed
- Restriction to rotating or alternating shape due to algorithmic reasons
Meaning of „Arbitrary“
- No physical necessity for injection shape
- Basically any current ripple contains the saliency angle information
- Finding a way to exploit this provides additional degrees of freedom

Encoderless Control with Arbitrary Injection
„Limitations“ of HF Injection Methods
… usually the current ripple caused by the inverter switchings

are sufficient to exploit the rorot position …
Meaning of „Arbitrary“
- Basically any current ripple contains the saliency angle information
… if not … any current ripple can eben be music !!!

Industrial Needs
• The proposed PTC (Predictive Torque Control) method
works from standstill to maximum speed
 single scheme for wide speed range (no phase over)
• The sensorless control scheme presented here

does not need additional voltage measurement devices
- neither on the machine/motor side nor on the line side
 no additional noise (except usual noise by inverter supply)
• As long as there is a detectable saliency
PTC is very robust to variations of the motor parameters
 ? insensitivity with respect to parameter variations

further research to be done !!
Page
Outline
 Introduction
Experimental Results (DMPC)
current control
comparison : PI control  model predictive control

Experimental Results (DMPC)
current control
a change of the cost function (nothing else !!!)

results in different behaviour !
Features of (Longe Range) Predictive Control
Advantages
Disadvantages
Discussion
• predictive control strategies

offer the possibility to use foreknowledge about the drive system
• physical limitations and dynamic behaviour of power electronics
are taken into account
• non-linear systems are represented better (by non-linear models)
• no need for time challenging cascaded structures
• the way of thinking is different
model of the controlled system  cost function
Page 77
Outline
 Introduction
There is definitely a strong demand
for reducing the calculation power
necessary for predictive control
Calculation Times
DMPC - control, implicite solution
strategy Np cases max. calculation time
complete enumeration 2 64 35 µs
complete enumeration 3 512 > 500 µs
branch and bound 2  64 27 µs

branch and bound 3  512 186 µs
online-optimization is not applicable for drive control
processor:
900 MHz AMD Duron, 128 MB RAM

Linux 2.2.14 with RTAI 1.3
• Relying on Moore‘s Law is not sufficient !
• Heuristic Preselection
• Extrapolation instead of Exact calculation
• …
Control task
Current control of a three-phase resistive-inductive-active load
Heuristic method
Peter Stolze
• Calculation effort rises exponentially with the prediction horizon
• Three or four prediction steps impossible in real-time

(online as well as offline)
• Cost function to describe the performance to be obtained
• Basic idea of Heuristic Method :
• Optimum integer solution of a linear program

is close to the continuous-valued solution of the integer problem
=> Important: Optimum integer solution is not necessarily

the integer solution which is closest to the continuous-valued optimum
=> Not all integer points have to be examined,
only the ones closest to the continuous-valued optimum
Heuristic method
• Continuous-valued “switching states“ in the range [0; 1]
• Determination of the sector in which the

continuous-valued optimum lies (I to VI)
• For the first two prediction steps the three

closest integer solutions are used for
an exhaustive search
(corners of the triangle)
• For the 3rd and 4th prediction step only the

2 closest integer solutions are used
• 3 prediction steps: 18 possible combinations

4 prediction steps: 36 possible combinations
• In more than 95% of the cases the “real“ optimum is still found
Simulation Results
Three-Level Inverter with Capacitor Voltage Balancing
Sinusoidal references Flying capacitor voltages
R = 10Ω, L = 10mH, Vdc = 540V, T = 100μs, C = 480μF

Finite-Set Model Predictive Control of a
Flying Capacitor Converter with Heuristic
Voltage Vector Preselection
Peter Stolze
Control task
• Current control of a three-phase resistive-inductive-active load
• Hysteresis controller for voltage balancing
S11 S21 S31

0.5Vdc
S12 i1 S22 i2 S32 i3
C1 C2 C3
S13 S23 S33
0.5Vdc
S14 S24 S34
E1 E2 E3
R R R
L L L
General remarks
Im
-+- 0+- ++-

• Heuristic voltage vector 2 4
selection algorithm basically 1

0+0
3
++0
5
-+0 +0-
-0- 00-
the same as for two-level 11 9 7
inverters but now the 12

0++
10
+++
8
+00
6
-++ 000 +-- Re

continuous-valued “switching 13
-00
15
---
17
0--
19
states“ can be 14
00+
16
+0+
18
-0+ +-0
--0 0-0
in the range [-1; 1] 24 22 20
23 21
--+ 0-+ +-+

• 24 possible sectors
Simulation Results
Sinusoidal references Flying capacitor voltages
R = 10Ω, L = 10mH, Vdc = 540V, T = 100μs, C = 480μF

• Relying on Moore‘s Law is not sufficient !
• Heuristic Preselection
• Extrapolation instead of Exact calculation
• …
Model Based Predictive Current Control
complete enumeration  extensive processing power needed

there are
7 (or 8) possiblities
for “the following
switching state”
 the respective
system behaviour (current)
can be calculated
in advance
a chess player, however, does not really consider each possibility

further prediction, however,

is only considered for
the candidate sequences
staying within
the permitted limits
… so why should we do that in predictive control ???

… determine those switching possibilities only

that are either feasible or point in the proper direction
 these are candidate sequences
feasible pointing in the proper direction
… determine those switching possibilities only

that are either feasible or point in the proper direction
 these are candidate sequences
not feasible not pointing in the proper direction
… for the candidate sequences, further prediction (e. g. by a reduced system model) is performed
example : the number of steps after which the first of the two variables the i and i
sa isb
leaves the feasible region

is the number h
… for the candidate sequences, further prediction (e. g. by a reduced system model) is performed
example : the number of steps after which the first of the two variables the i and i
sa isb
leaves the feasible region

 h = 4 is the number h
1  h = 10
2
Outline
 Introduction
Features of (Longe Range) Predictive Control
Advantages
Disadvantages
Actual Situation
 in cascaded control structures
speed control must be much faster than position control
and current control must be much faster than speed control
 current control must be extremely fast
to achieve position control with reasonable cycle times
 at the time most requirements in industrial applications are satisfied sufficiently

 there is no strong need for improvement in industry
 however – at a certain time there will be a demand for improvement
with respect to a future increase of requirements

more investigations should be done
Page 99
Discussion
• predictive control strategies
offer the possibility to use foreknowledge about the drive system
• physical limitations and dynamic behaviour of power electronics
are taken into account
• non-linear systems are represented better (by non-linear models)
• no need for time challenging cascaded structures
• the way of thinking is different
model of the controlled system  cost function
with respect to a future increase of requirements

more investigations should be done
Page
What do you think ?
Thank you !

Predictive Control - A Simple and Powerful Method To Control Power Converters and Drives

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Predictive Control - A Simple and Powerful Method

to Control Power Converters and Drives

 current control must be very fast

 in the controlled system (drive, converter, …)

… we already operate our systems at the physical limits !!!

… the real reason is …

… you do not need a Ph.D.

reminds slightly to state control

state control, however, is basically a linear control

reference comparison between

Continuous-Set-Model based strategies Finite-Set-Model based strategies

Fast online optimization 2L-VSI

Weighting factors design

 Trajectory Based Predictive Control

DC drive supplied by a line commutated thyristor inverter

system states are forced to follow

difference to sliding mode control

Direct Speed Control acc. to Mutschler

• system states are forced to follow (pre-)defined reference trajectories

 Trajectory Based Predictive Control

switching of inverter takes place

• switching takes place at borders of a hysteresis area

3. predictive control (Holtz)

5. DSC (Takahashi) with 7 % hysteresis

3. predictive control (Holtz)

5. DSC (Takahashi) with 7 % hysteresis

6. DSC (Takahashi) with 7 % hysteresis

 Trajectory Based Predictive Control

• direct control of • DTC

• the player calculates

1. model of the controlled system

1. model of the controlled system

IEEE Energy Conversion Congress and Exposition, ECCE 2014

 Review of classical PWM

 The principle of MPC in Power Electronics

 Review of converter topologies controlled using MPC

 Some applications of converters controlled using MPC

 Review of classical PWM

 The principle of MPC in Power Electronics

 Review of converter topologies controlled using MPC

 Some applications of converters controlled using MPC

 Comparison between MPC and classical solutions

 Open questions and future work

 Converter control methods

 Converter control methods

 Predictive control methods

 The control of power converters and of energy is based on the “mean

 The same principle of “mean value” is used to control an inverter.

 At every period of the carried, the mean value 𝑣𝐿 is generated.

 The same principle of “mean value” is used to control an inverter.

 At every period of the carried, the mean value 𝑣𝐿 is generated.

 The same principle of “mean value” is used to control an inverter.

 At every period of the carried, the mean value 𝑣𝐿 is generated.

 The same principle of “mean value” is used to control an inverter.

 At every period of the carried, the mean value 𝑣𝐿 is generated.

 The same principle of “mean value” is used to control an inverter.

 At every period of the carried, the mean value 𝑣𝐿 is generated.

 The same principle of “mean value” is used to control an inverter

 At every period of the carried, the mean value 𝑣𝐿 is generated.

 Voltage vectors of a 2-level inverter  Modulation principle

 Voltage vectors of a 2-level inverter  Modulation principle

Predictive control offers a completely different and