Abstract
Maximum Torque Per Ampere (MTPA) based on motor parameters is a common approach to achieve high efficiency and torque density in Interior Permanent Magnet Synchronous Machine Drives (IPMSMs). However, uncertainty (e.g., due to identification errors, magnetic saturation, or temperature variation) results in undesired deviation from the optimal operating trajectory. To solve this problem, MTPA tracking methods have been proposed, which exploit signal injection to search the minimum current point for a certain load torque in a closed-loop fashion. Closed-form design of the MTPA tracking loop dynamics has never been addressed in past literature and represents the main topic of this paper. A recent and efficient tracking method has been considered for the analysis and case study, i.e., [14]. Nonlinear small-signal gain of the loop can be calculated in closed form, leading to two valuable results. Dynamics can be programmed by optimal design of the tracking regulator, and online adaptation can be applied, making the designed MTPA tracking dynamics invariant with the operating point. A straightforward and effective solution is proposed for the regulator design, which allows us to obtain the desired bandwidth and first-order tracking response in the whole range of operation, being also suitable for auto-tuning and online adaptation. The method has been studied analytically and in simulation, also considering the influence of noise and parametric uncertainties. Finally the technique has been implemented on the hardware of a commercial industrial drive, proving the effectiveness of the proposal. The concepts described in this paper, design approach and adaptation strategy, analyzed here for the first time, are general and can be applied to any control scheme implementing closed-loop MTPA tracking.