An Adaptive Predictive Current Control Method for Permanent Magnet Synchronous Motor with Delay Compensation

HE Dongwei; ZHANG Yitao; JIANG Xuecheng; WANG Yongjie; CAI Sijing; LIU Lisang; CHEN Jian

doi:10.7652/xjtuxb202610007

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An Adaptive Predictive Current Control Method for Permanent Magnet Synchronous Motor with Delay Compensation

Special Topic Embodied Intelligent Robot | 更新时间：2026-09-29

- An Adaptive Predictive Current Control Method for Permanent Magnet Synchronous Motor with Delay Compensation
- Journal of Xi'an Jiaotong University Vol. 60, Issue 10, Pages: 80-90(2026)
- 作者机构：
  
  福建理工大学电子电气与物理学院，350118，福州
  福建理工大学福建省工业集成自动化行业技术开发基地，350118，福州
  闽江学院物理与电子信息工程学院，350108，福州
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202610007
  CLC： TM351
- Received：17 December 2025，
  
  Online First：04 June 2026，
  
  Published：10 October 2026
- 稿件说明：
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HE Dongwei, ZHANG Yitao, JIANG Xuecheng, et al. An Adaptive Predictive Current Control Method for Permanent Magnet Synchronous Motor with Delay Compensation[J/OL]. Journal of Xi'an Jiaotong University,2026,60 (10):80-90. https://doi.org/10.7652/xjtuxb202610007.
DOI：

HE Dongwei, ZHANG Yitao, JIANG Xuecheng, et al. An Adaptive Predictive Current Control Method for Permanent Magnet Synchronous Motor with Delay Compensation[J/OL]. Journal of Xi'an Jiaotong University,2026,60 (10):80-90. https://doi.org/10.7652/xjtuxb202610007. DOI：

摘要

针对数字控制下永磁同步电机系统存在的延时与参数失配影响电流环性能的问题，基于传统无差拍的预测电流控制框架，通过引入带遗忘因子最小二乘算法，以及改进的模型自适应补偿结构，设计了一种新型自适应预测电流控制方法，有效消除了系统延时及严重参数失配对电流跟踪性能的影响。研究结果表明：在各种参数失配工况下，所提方法均表现出更快的动态响应能力和更高的稳态精度。以

轴为例，所提方法的电流动态调节时间均值仅为12.0ms，电流跟踪最大均方根误差低于15.4mA；与传统比例积分控制相比，电流动态调节时间显著缩短了约12.4ms，电流跟踪最大均方根误差降低了58.6%。此外，该方法的系统执行时间约为19.93～21.20μs，所需运算量完全在现有数字信号处理器算力的允许范围内，可以充分保证计算的实时性。该研究有效地改善了延时与参数失配的影响，显著地提高了电流环的跟踪性能，为进一步实现高性能永磁同步电机驱动控制提供了一种切实有效的解决方案。

Abstract

To address the degradation of current control performance caused by time delay and parameter mismatch in digitally controlled permanent magnet synchronous motor (P

MSM) systems

a novel adaptive predictive current control method is proposed based on the conventional deadbeat predictive current control. By incorporating a forgetting-factor recursive least squares algorithm and an improved model adaptive compensation structure

the coupled effects of system delay and severe parameter mismatch on current control are effectively eliminated. The research results indicate that the proposed method exhibits faster dynamic response and higher steady-state accuracy under various parameter mismatch conditions. With the

-axis as an example

the average dynamic current adjustment time is only 12.0ms

and the maximum root mean square error of current tracking is below 15.4mA. Compared with the conventional proportional-integral control

the dynamic current adjustment time is significantly reduced by approximately 12.4ms

and the maximum root mean square error of current tracking is substantially decreased by 58.6%. Furthermore

the execution time of the proposed method is approximately 19.93-21.20μs. The required computational load is well within the capacity of existing digital signal processors

thereby fully guaranteeing real-time computation. The impacts of time delay and parameter control effectively mitigated by study

and the tracking performance of the current loop is significantly improved

providing a practical and effective solution for further implementing high-performance PMSM drive control.

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