Real-time Ultra Short Horizon extension MPC for the control of a Formula Student Drive

06/26/2024

This work presents the development of a control strategy for the motors of the Formula Student Team of Instituto Superior Técnico. The control strategy was developed with the main goal of improving the dynamic response of the motor torque and the system efficiency. The motor was experimentally characterized and a simulation environment was created to test different control strategies. The explicit MPC was selected as the most suitable strategy due to its fast response and low current ripple. A novel horizon extension technique was proposed to reduce model mismatch, which gave the name of the controller: Real-time Ultra Short Horizon extension MPC (RUSH MPC). The control strategy was implemented in an FPGA and a test bench setup was developed. The experimental results showed a close match with the simulation results, validating the torque estimation, the current measurements, and the control strategy. The system efficiency was improved due to the reduction in current THD and the torque response was improved by orders of magnitude compared to the current solution.

Authors in the community:

• 

  I

  Israel Melo Sother

  ist1101784

Supervisors of this institution:

• 

  P

  Pedro Miguel Batista de Sousa Correia da Costa

  ist172950

• 

  S

  Sónia Maria Nunes dos Santos Paulo Ferreira Pinto

  ist13145

electrical-engineering-electronic-engineering-information-engineering - Electrical engineering, electronic engineering, information engineering

eng - English

Instituto Superior Técnico