Improved predictive speed control of brushless dual rotor motors considering speed measurement delay and virtual inertia identification

Abstract

The brushless dual rotor motor (BLDRM), with its multiple electromechanical ports and high integration, holds significant potential for various applications such as electric continuously variable transmission (ECVT) systems and contra-rotating propellers. However, the high pole-pair ratio typically adopted between the rotors and modulation windings in magnetic field modulation design imposes stringent requirements on the dynamic speed response performance, making precise and rapid control challenging. To address these issues, an improved predictive speed control (IPSC) with a discrete third-order extended state observer (ESO) and virtual inertia identification is proposed to strengthen the transient speed performance of BLDRM. With the discrete third-order ESO, the measured speed is precisely compensated, thereby enhancing speed prediction accuracy for IPSC and further improving speed response performance. Besides, accurate parameter tuning and performance analysis are obtained within the discrete domain of the proposed IPSC control strategy. With the virtual moment of inertia as well as adaptive estimation of key parameters, the robustness against model parameter uncertainties is enhanced. Finally, experimental validation on a BLDRM drive platform confirms the effectiveness of the proposed approach.