2013 International Conference on Electrical Machines and Systems, Oct.

26-29, 2013, Busan, Korea

New Model Based Predictive Torque Control

Algorithm in Combination with Duty Ratio
Modulation Strategy for Flux-Switching
Permanent Magnet Synchronous Machines
Hua Cai1, Wei Xu2, 3, Member, IEEE, Wenwu Yang1, and Rushuai Tang4
1
Sichuan Deyang Electric Power Bureau, China
2
State Key Laboratory of Advanced Electromagnetic Engineering and Technology,
School of Electrical and Electronic Engineering, Huazhong University of Science and Technology, China
3
School of Electrical and Computer Engineering, RMIT University, Australia
4
Electricity Power Bureau, Hengyang, Hunan, China
Email: weixuforhappy@gmail.com

Abstract — During the past five years, flux-switching
permanent magnet synchronous machines (FSPMSMs) have
began to find potential applications for electric vehicle, wind
generation, etc. for their high torque density, great thermal
dissipation ability, strong mechanical robustness, etc.
Unfortunately, FSPMSMs compared to traditional rotor-inserted
PMSMs suffer greater magnetic saturation and torque ripple for
its inherited double salient structure, and higher converter
switching loss due to its higher number of pole pairs. Besides
electromagnetic optimal design, model based predictive torque
control (MPTC) is one effective method to improve the FSPMSM
drive performance. On the basis of the authors’ past work, this
paper continues to employ the duty cycle modulation the MPTC
algorithm. By the help of one comprehensive cost-function
modification, the torque and flux ripples of FSPMSM are
reduced obviously.
I. INTRODUCTION
Flux-switching permanent magnet synchronous machine
(FSPMSM) was firstly proposed in 1955 [1], but it had not
been paid more attention until the end of 1990s for constraints
of power electronics and control algorithms. In general, the
diagram of FSPMSM can be regarded as the combination of
both switched reluctance machine (SRM) and rotor-inserted
permanent magnet synchronous machine (PMSM), just only
difference with stator-inserted PMs. For its simple structure
and brushless rotor, the FSPMSM in comparison with
traditional PMSMs can demonstrate very strong mechanical
robustness capability, high torque density (less flux leakage
due to more cross section area for flux loop), strong thermal
dissipation ability (more space for temperature cooling), etc.
However, for variable magnetic air gap lengths resulted from
inherited double salient structure, the FSPMSM has suffered
several demerits below [1-8]: (1) Large torque ripple due to
the nonlinear equivalent magnetic circuit; (2) High copper loss
by the influence of high working frequency resulted from its
comparatively large number of pole pairs; and (3) Serious
magnetic saturation particularly on the edge of stator teeth or
rotor pole particularly in high current excitation cases.
These shortcomings cannot be smoothed away completely
only by electromagnetic design, and as the power range
increases, the partial magnetic saturation would become more
serious, and the machine designers could meet with great
headache to decide reasonable balance between different drive
indexes (mostly they are in contraction with each other) [4-12].
Hence, advanced control algorithms should be another good
way to further increase the drive performance of FSPMSMs.
Till now, there have been many advanced control methods,
such as vector control (VC), direct torque control (DTC), etc.
for traditional PMSMs, but there is still great lack of deep
investigations on FSPMSM drive system. For variable flux
linkage in FSPMSM, both VC and DTC algorithms could not
demonstrate great priority. In recent years, a novel control
strategy based on predictive torque control (MPTC) [13-22]
has been proposed for FSPMSMs. This emerging control
strategy not only has a simple control structure, but also has
fast dynamic response and parameter robustness. In 2012, one
modified MPTC algorithm based on three-phase currents
instead of the traditional d-q axis currents was successfully
applied in the DSPMSM drive system [20], which reduces the
dependence on motor parameters, such as flux linkages.
However, the new control structure is very complicated, which
needs to calculate eight sets of data sampling and the cost
function cannot effectively reduce the switching frequency.
The core ideal can be employed in the FSPMSM directly, and
time consumption for practical implementation could be
reduced.
In this paper, a novel model based predictive torque
control (MPTC) strategy in cooperation with duty-ratio
modulation for FSPMSM is proposed. Mathematic equations
of FSPMSM are derived in Section II, and the principles of
new MPTC strategy with duty ratio is analyzed in Section III.
Section IV presents detailed simulation results and analysis.
Finally, conclusions are made in Section V.

978-1-4799-1447-0/13/$31.00 ©2013 IEEE

1160
 II. MATHEMATICAL EQUATIONS OF FSPMSM where ipk the measured current, ipk+1 the predicted value of
The topology of FSPMSM with 12/10 (stator/rotor) poles stator current in the next sampling period. (k+1) represents the
has be investigated in this paper, as illustrated in Fig.1. predicted value in the future points. With the predicted current,
the prediction torque can be estimated step by step. Taking (15)
into (10), the static phase predictive electromagnetic torque is
calculated by
1 ∂L p k +1 ∂ψ pm , p
Tepk +1 = (i pk +1 ) 2 + ip (16)
2 ∂θ r ∂θ r
Then the predicted output torque value in total is
Tek +1 = TeAk +1 + TeBk +1 + TeCk +1 (17)
Similarly, the predictive value of flux can be obtained by
the following d-q axis currents
idk +1  cos θ e cos(θ e − 2π / 3) cos(θ e + 2π / 3)  iA 
k +1

 k +1  2   
Fig.1. Cross section of the FSPMSM with 12/10 poles [20]. iq  =  sin θ e sin(θ e − 2π / 3) sin(θ e + 2π / 3)  iBk +1  (18)
 k +1  3  1/ 2 1/ 2 1/ 2  iCk +1 
The mathematical model of voltage in theory for three- i0    
phase coordination can be given by [21] The prediction of flux linkage Ψsk+1 can be made by
dψ p
u p = Ri p + e p = Ri p + (1) ψ sk +1 = ( Ld idk +1 + ψ m ) + jLq iqk +1 (19)
dt
where idk+1
and iqk+1
are predicted stator currents values in d-q
Then the flux model can be described as
axis, which can be obtained by ipk+1 through the coordinate
ψ p = Lp i p + ψ pm , p (2) transformation, and Ψsk+1 is the predicted value of phase flux.
where p denotes A-, B-, or C- phase respectively. By B. Cost Function
combining (7) and (8), the equation of phase voltage can be
The cost function has been put forward to optimize the
rewritten as
converter working frequency, and in this paper, it is supposed
d by
u p = R p i p + ( Lp i p + ψ pm , p )
dt
di p dLp dψ pm , p (3) (
G = Te* − Tek +1 + k1 ψ s* − ψ sk +1 + A Te* − Tek + N + k1 ψ s* − ψ sk + N ) (20)
= Rp i p + Lp + ip ωr + ωr where Te* *
and Ψs are reference values of torque and flux,
dt dθ r dθ r
respectively, k1 and A are the weighting factors decided by the
Then the torque of each phase can be expressed as project practical requirements. Tek+N and Ψsk+N are the
1 ∂Lp ∂ψ pm , p predictive torque and flux values at (K+N) instant,
Tep = i p2 + ip = Trp + Tmp (4) respectively. In addition, Tek+N and Ψsk+N can be obtained by
2 ∂θ r ∂θ r
using the linear extrapolation, as expressed by
where Trp is the reluctance torque, and Tmp the magnetic torque. Tek + N = Tek + ( N − 1) (Tek +1 − TeK ) (20)
III. MPTC STRATEGY FOR FSPMSM ψ sk + N = ψ sk + ( N − 1) ψ sk +1 − ψ sk (21)
The principle of MPTC strategy is investigated in details in
[21], and here it will make briefly summary and related notes More detailed discussion has been carried out in [20, 21].
as follows. C. Duty Ratio Modulation for FSPMSM
A. The Prediction of Torque and Flux The influences of voltage vector on torque and flux are
From (4), it can be known that the torque is mainly related decided not only by the angle but also by the amplitude, as
to current, permanent magnet flux and inductance. The shown in (14~17). The duty ratio can be defined by the length
permanent magnet flux and inductance can be determined by of the applied voltage vector which can be regulated by its
related measurements. It means that the value of torque time duration in one sampling period and the rest of the time is
prediction can be got by the current predictive value. By allocated for a null vector. The duty ratio or equivalent
reforming (9), the variation of current can be calculated by voltage-vector length has been proposed by [10]
di p dL p dψ pm ET Eψ T * − Te ψ s* −ψ s
= (u p − Ri p − i p ωr − ωr ) / Lp (14) m= + = e + (22)
dt dθ r dθ r CT Cψ CT Cψ
From the above equations, the predictive value in the next where m is normalized with respect to the maximum peak
step, ipk+1, is calculated by value of phase voltage in the linear range. The CT and Cψ are
1 dLp dψ pm adjustment factors and the tuning of which is a tradeoff
i pk +1 = i pk + (u p − Ri pk − i pk ωr − ωr ) * Ts (15)
Lp dθ r dθ r between dynamic response and steady-state performance.
However, Equ. (22) is just related to the reference torque and

1161
flux. In this paper, an improved duty ratio has been proposed Program One Program Two Program Three
0.1 0.2 0.1
for reducing switching frequency and improving motor
0.08 0.08
performance, as expressed by 0.15
0.06 0.06
ET Eψ T k +1 − Te* ψ sk +1 −ψ s*
m= + = e + (23) 0.04 0.1 0.04
CT Cψ CT Cψ 0.02 0.02
0.05

Ψβ (Wb)

Ψβ (Wb)

Ψβ (Wb)
It can be synthesized by space vector modulation (SVM) 0 0

strategy so as to decide the optimal switching vectors in one -0.02

0
-0.02
instant. -0.04 -0.05 -0.04

D. Control Diagram of MPTC Methodology -0.06 -0.06

-0.1
-0.08 -0.08
As shown in Fig.2, the MPTC model includes four parts, i.e.
-0.1 -0.15 -0.1
Cost Function Minimization, SVM, FSPMSM Model, and -0.1 0 0.1 -0.2 0 0.2 -0.1 0 0.1
Ψα (Wb) Ψα (Wb) Ψα (Wb)
Current Prediction. The current Prediction model is used to
Fig.4. The flux trajectory of FSPMSM @ 1000rpm without load.
predict the current in eight switching states. Then the
Program One
predictive torque and flux can be got by relevant predicted 0.15 0.15
Program Two
0.15
Program Three

currents according to (16) ~ (19). The choice of voltage vector

0.1 0.1
can be made by SVM. 0.1

0.05 0.05

0.05
0 0
Ψβ (Wb)

Ψβ (Wb)

Ψβ (Wb)
V0 ~ V7
V0 ~ V7
-0.05 -0.05
0

i pk +1 V0 ~ V7 -0.1 -0.1

-0.05
-0.15 -0.15

-0.1 -0.2 -0.2

Fig.2. Diagram of the MPTC strategy of the proposed for FSPMSM. -0.2 0 0.2 -0.2 0 0.2 -0.2 0 0.2
Ψα (Wb) Ψα (Wb) Ψα (Wb)
Fig.5. The flux trajectory of FSPMSM @ 500rpm with 3Nm load.
IV. SIMULATION MODEL AND PERFORMANCE ANALYSIS
0.2 0.085
In this section, the proposed MPTC strategy for FSPMSM 0.08
Ψs/Wb
Te/Nm

has been confirmed by MATLAB/Simulink. Working 0

0.075
performance controlled by different schedules will be
-0.2
compared and studied in details. Specifically, Program One is 0.2
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2

without duty ratio, Program Two is with duty ratio by (22), 0.078
Ψs/Wb
Te/Nm

0.076
and Program Three is with duty ratio (23). As to the 0
0.074
parameters for the MPTC strategy, it is supposed that k1 = 25.4, 0.072
-0.2 0.07
A = 0.2, and N = 35. 0.2
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2

0.078
Ψs/Wb

Program One Program Two Program Three 0.076

Te/Nm

0.08 0.08 0.08 0 0.074

0.072
0.06 0.06 0.06 0.07
-0.2
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
0.04 t/s t/s
0.04 0.04
Fig.6. Steady-state response @ 100rpm (12.5% rate speed) based Program
0.02
0.02 0.02 One, Program Two, and Program Three.
0.5 0.085
Ψβ (Wb)

0
Ψβ (Wb)

Ψβ (Wb)

0 0 0 0.08
Te/Nm

Ψs/Wb

-0.02
-0.02 -0.02 -0.5 0.075
-0.04
-1
-0.04 -0.04 0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
-0.06 10 0.18

-0.08 -0.06 -0.06 5 0.16

Te/Nm

Ψs/Wb

-0.1 -0.08 -0.08 0 0.14

-0.1 0 0.1 -0.1 0 0.1 -0.1 0 0.1
Ψα (Wb) Ψα (Wb) Ψα (Wb) -5
0 0.05 0.1 0.15 0.2 0.12
0 0.05 0.1 0.15 0.2
Fig.3 The flux trajectory of FSPMSM @ 100rpm without load. 0.5 0.085

0.08
Ψs/Wb
Te/Nm

0
0.075

-0.5
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2
t/s t/s

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Fig.7. Steady-state response @ 100% rate speed based Program One, Program shown in Fig.12. In the whole starting process, the rotor speed
Two, and Program Three.
changes smoothly with small torque ripple. The impact on the
4 0.12 FSPMSM steady-state operation brought by the changing load
0.11 is very small, which could even be maintained constant by the

Ψs/Wb
Te/Nm

3
0.1 employment of excellent MPTC control implementation.
10
2 0.09

ia/A
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2 0
4 -10
0.12
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
(a)
Te/Nm

Ψs/Wb
3 0.1 10

Te/Nm
0
-10
2 0.08 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2 (b)
4 0.12 500

ωr/rpm
0
Te/Nm

Ψs/Wb

-500
3 0.1 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
(c)
0.2

Ψs/Wb
2 0.08
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2 0.1
t/s t/s 0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
Fig.8. Steady-state response @ 50% rate speed based Program One, Program (d)
Two, and Program Three with 3Nm load. t/s

Fig.9. Dynamic response in Program Three for a given speed from -500rpm to
A. Dynamic Response
500rpm. (a) Current of A phase. (b) Rotor velocity. (c) Torque. (d) Flux
The analysis of the dynamic performance of the FSPMSM
linkage. (Red line: reference value; Blue line: real value.)
is carried out, which can judge the validity and superiority of
5
MPTC strategy by comparison to other traditional methods. It
ia/A

0
is supposed that the machine runs in high speed, low-speed, -5
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
with or without different level loads. As discussed in Section 5
(a)
Te/Nm

III, the great advantages of the MPTC strategy include its 0

direct torque control, and minimization of torque and flux -5

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
(b)
ripples in the dynamic working state. 100
ωr/rpm

0
The steady of flux locus at low and high speeds for three -100

kinds of proposed strategies are given in Figs.3, and 4 and 0 0.05 0.1 0.15 0.2
(c)
0.25 0.3 0.35 0.4

0.2
5.respectively. It is seen that the stator flux locus of Program
Ψs/Wb

0.1
One and Three are more ideal in circular shape, which means 0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
they two methods have less ripples. The steady-state response (d)
t/s
of the proposed three programs has been simulated and
analyze, as shown in Figs. 6, 7 and 8 respectively. It can be Fig.10. Dynamic response in Program Three for a given speed from +100rpm
to – 100 rpm and a given load from 3 to -3Nm.. (a) Current of A phase. (b)
seen from Fig.6 that the torque ripple and flux ripple are Torque. (c) Rotor velocity. (d) Flux linkage. (Red line: reference value; Blue
varied in the range of [-0.2 0.2] Nm and [0.07 0.08] Wb. In line: real value.)
Fig.7, it can be known that Program Two cannot reach the 10
ia/A

rated speed and the torque and flux ripples in Program Three 0
-10
are less than Program One. Particularly, the steady-state 0 0.05 0.1 0.15 0.2
(a)
0.25 0.3 0.35 0.4

10
responses about three programs are summarized in Fig.8.
Te/Nm

0
A comprehensive analysis of the motor dynamic -10
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
performance has been made carefully, as shown in Figs.9 and 1000
(b)

10 and 11 respectively. In Fig.9, when the FSPMSM runs to

ωr/rpm

800rpm, by controlling the objective cost function at 0.15 s, -1000

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4

the rotor speed can quickly reverse at 0.3 s. also, the low speed 0.2
(c)
Ψs/Wb

has been considered too as shown in Fig.10. It can be seen that 0.1

the rotor speed changes very rapidly, and can quickly track its 0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
(d)
target speed command. In the process of rising or falling, the t/s

speed can change very quick and smoothly. Furthermore, the
electromagnetic torque changes very fast towards the stability
with small fluctuation. Meanwhile, the starting response
capability is also one key criterion for the advanced FSPMSM
drive system. As shown in Figs.11 and 12, it investigates the
starting process under different step changes of load. As
shown in this picture, the machine starts with 3Nm load at 0.1
second and then it changes to the condition of -3Nm load at
0.25 second and then from 1Nm to 2Nm, finally to 3Nm, as
Fig.11. Dynamic response in Program Three for a given load from 3 to -3Nm..
(a) Current of A phase. (b) Rotor velocity. (c) Torque. (d) Flux linkage. (Red
line: reference value; Blue line: real value.)
Meanwhile, the working conditions of speed up have been
considered as shown in Fig.13, they reflect the speed
characteristic at different working conditions. When the
reference speed is changed, the output speed can quickly track
the speed change.

1163
 10
B. Robustness Analysis
ia/A

0
-10
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
As to the FSPMSM practical operation, it will suffer
10
(a)
influenced by parameter variables. Take the stator resistance
Te/Nm

0
and flux linkage for examples. During different working states,
-10
0 0.05 0.1 0.15 0.2
(b)
0.25 0.3 0.35 0.4
especially in start-up process, acceleration, deceleration, it
500 need great current excitation, which could result in serious
partial magnetic saturation, and rising high temperature. In the
ωr/rpm

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4

0.2
(c) end, the stator resistance and flux linkage will be changed a
Ψs/Wb

0.1 little so as to bring defects to the FSPMSM drive performance.

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 In order to quantitatively study these external disturbances,
(d)
t/s here it supposes the stator resistance and flux linkage change
Fig.12. Dynamic response in Program Three for a given load from 1Nm to 1.5 times of original values, as depicted in Figs. 14 and 15
2Nm, then to 3Nm. (a) Current of A phase. (b) Rotor velocity. (c) Torque. (d)
Flux linkage. (Red line: reference value; Blue line: real value.) respectively. From these two pictures, the external step load
10
with 3Nm is applied for the drive system at 0.2s, where the
stator resistance and mutual inductance are supposed to grow
ia/A

0
-10
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 up 150% of its original rated value respectively. By
10
(a)
introducing the new MPTC strategies, it can be seen that the
Te/Nm

0
drive system can demonstrated very strong robustness
-10
0 0.05 0.1 0.15 0.2
(b)
0.25 0.3 0.35 0.4 capability facing external disturbance.
500
ωr/rpm

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
V. CONCLUSIONS
(c)
0.2 In this paper, an improved MPTC strategy has been
ωr/rpm

0.1
0
proposed for FSPMSM drive system. Comprehensive
0 0.05 0.1 0.15 0.2
(d)
0.25 0.3 0.35 0.4
theoretical analysis and simulation investigations have proved
t/s
that the new algorithm can effectively reduce the torque ripple
Fig.13. Dynamic response in Program Three for changing from 100rpm to
200rpm, then to 400rpm, last to 600rpm. (a) Current of A phase. (b) Rotor and increase dynamic response. By employment of both cost
velocity. (c) Torque. (d) Flux linkage. (Red line: reference value; Blue line: function and duty ratio modulation strategy, it can strengthen
real value.) the electrical parameter robustness independent of external
10 1.5Rs=Rs disturbances. However, there are some issues in need of
further solution, such as certain difficulty of evaluating the
Te/Nm

5
flux linkage, and the control loop has a little complicated
0 which need to be optimized to some extent. More
0 0.05 0.1 0.15 0.2
(a)
0.25 0.3 0.35 0.4
comprehensive equivalent models of the FSPMSM will be put
1500 forward in the near future.
1000
ωr/rpm

500 ACKNOWLEDGMENT
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
This work has been supported by National Natural Science
(b) Foundation of China (NSFC), 51377065 and 61301035.
t/s
Fig.14. Robustness analysis in Program Three of the new MPTC algorithm
versus variable motor parameters. (a) Torque. (b) Rotor velocity. (Red line: VI. APPENDIX: PREDICTION EQUATIONS OF VOLTAGE, FLUX
reference value; Blue line: real value.) AND CURRENT
15
1.5Ψs=Ψs In the following, more details about the FSPMSM voltage,
10
flux, and current prediction equations in theory are given.
Te/Nm

0
The three-phase flux linkages can be calculated by
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
(a) ψ A   Laa M ab M ac  iA  ψ mA 
1500
ψ  =  M M bc  iB  + ψ mB 
1000  B   ba Lbb (A-1)
ωr/rpm

500
ψ C   M ca M cb Lcc  iC  ψ mC 
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
where ψ mA , ψ mB , and ψ mC areA-, B-, C- phase flux linkage
(b)
t/s
contributed by permanent magnet respectively. Taking flux
Fig.15. Robustness analysis in Program Three of the new MPTC algorithm equation (A-1) into voltage equation (9), then it can get phase
versus variable motor parameters. (a) Torque. (b) Rotor velocity. (Red line: voltage equation, as described by
reference value; Blue line: real value.)

1164
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