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<p>Existing model predictive speed control (MPSC) relies on the accuracy of the motor model and weight coefficients, making it difficult to meet the requirements of electric tractors under complex operating conditions. To address this issue, an ultra-local weightless model predictive speed control (ULW-MPSC) method is proposed in this paper. In the speed loop, this method adopts an ultra-local incremental prediction model to directly obtain the q-axis reference current. This eliminates the need for a load observer and ensures a fast motor response. Meanwhile, the proposed control strategy converts the speed tracking error into an improved speed term error in the cost function, unifying its time scale with that of the current. This resolves problems such as the degraded dynamic performance and robustness in traditional cost functions caused by inconsistent time scales of the constraint terms. Additionally, this feature removes the weight coefficients from the cost function, further enhancing the fast response capability of the motor under complex operating conditions. An experimental platform is established to achieve practical experimental verification of the proposed control strategy. The results indicate that, compared with field oriented control (FOC), the proposed strategy achieves superior performance. Under variable speed and load conditions, the steady-state ripple is reduced by up to 40%, and the dynamic response time is shortened by more than 60%. Compared with MPSC (with a weight coefficient of 0.2), the proposed strategy demonstrates significant improvements. Under steady-state conditions, the speed ripple is reduced by 40%, the torque ripple by 16.9%, and the q-axis current ripple by 13.9%. Under variable speed conditions (30–50&#xa0;rpm), the response speed is improved by 72.7% and the torque ripple is reduced by 20%. Under load application conditions, the maximum speed drop is decreased by 70%. Under load reduction conditions, the maximum speed overshoot is reduced by 61%. This method effectively improves the response speed and anti-interference capability of the hub motor, providing technical support for enhancing the operational performance of electric tractors under complex operating conditions.</p>

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Ultra-local-model-based low-speed weighting-factor-free model predictive speed control for permanent magnet hub motors

  • 期刊论文

  • 发表日期：

    2026年4月27日

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  • Li Quan,
  • Quanshui Zeng,
  • Xiaoyong Zhu,
  • Chao Zhang

摘要

Existing model predictive speed control (MPSC) relies on the accuracy of the motor model and weight coefficients, making it difficult to meet the requirements of electric tractors under complex operating conditions. To address this issue, an ultra-local weightless model predictive speed control (ULW-MPSC) method is proposed in this paper. In the speed loop, this method adopts an ultra-local incremental prediction model to directly obtain the q-axis reference current. This eliminates the need for a load observer and ensures a fast motor response. Meanwhile, the proposed control strategy converts the speed tracking error into an improved speed term error in the cost function, unifying its time scale with that of the current. This resolves problems such as the degraded dynamic performance and robustness in traditional cost functions caused by inconsistent time scales of the constraint terms. Additionally, this feature removes the weight coefficients from the cost function, further enhancing the fast response capability of the motor under complex operating conditions. An experimental platform is established to achieve practical experimental verification of the proposed control strategy. The results indicate that, compared with field oriented control (FOC), the proposed strategy achieves superior performance. Under variable speed and load conditions, the steady-state ripple is reduced by up to 40%, and the dynamic response time is shortened by more than 60%. Compared with MPSC (with a weight coefficient of 0.2), the proposed strategy demonstrates significant improvements. Under steady-state conditions, the speed ripple is reduced by 40%, the torque ripple by 16.9%, and the q-axis current ripple by 13.9%. Under variable speed conditions (30–50 rpm), the response speed is improved by 72.7% and the torque ripple is reduced by 20%. Under load application conditions, the maximum speed drop is decreased by 70%. Under load reduction conditions, the maximum speed overshoot is reduced by 61%. This method effectively improves the response speed and anti-interference capability of the hub motor, providing technical support for enhancing the operational performance of electric tractors under complex operating conditions.