Optimal Feedforward Torque Control Of Synchronous Machines With Time-Varying Parameters

We propose a modification of the recently proposed optimal torque control for time varying parameters. The previous method allows to compute optimal trajectories for synchronous machine considering stator resistance and mutual inductances, however the strategies of transitions between these curves are changed at pre-computed speeds. In this contribution, we introduce an algorithm that computes the transition strategies online at the cost of slightly higher computational burden. We also study numerical and DSP implementation issues and show that the computational cost is affordable in conventional DSP. The results are experimentally validated on IPMSM drive of rated power of 4.5kW.