motor-mfpcc-eso

motor-mfpcc-eso — PMSM Model-Free Deadbeat Predictive Current Control + ESO Builder

Three-phase 2-level voltage-source inverter + SPMSM. Inner loop = model-free deadbeat predictive current control in the stationary αβ frame: plant abstracted as the first-order ultralocal model di_s/dt = F + α·u_s, a linear ESO estimating current + lumped disturbance F (absorbs resistance, back-EMF, all parameter variation), and a closed-form deadbeat inversion with one-step delay compensation producing a continuous (uα, uβ) command that SVPWM modulates at fixed switching frequency. Outer loop = speed PI providing iq_ref; id_ref = 0. Only 2 tuned parameters: α and ω0 (via pole z12). Distilled from Y. Zhang, J. Jin, L. Huang, IEEE Trans. Ind. Electron. 68(2):993-1002, 2021 (DOI 10.1109/TIE.2020.2970660). Layered on motor-pmsm-base; all base discipline applies (Visual 4-check, broken-FOC defense).

⚠ Method Identity (PINNED)

Deadbeat PCC + ESO + SVM = CONTINUOUS control set. NOT FCS-MPC. No vector enumeration, no cost function, no switching-state selection — voltage solved algebraically, handed to a modulator. Do NOT layer this on the motor-fcs-mpc family. Full evidence: formulas §D.

Formula Sources (single source of truth)

• Method formulas: pmsm_formulas.md §G — ultralocal model (4)/(7), ESO (8)–(17), deadbeat (18)–(21), method identity, parameters. Plant by reference: pmsm_formulas.md §8 (αβ complex-vector SPMSM; Ld = Lq = Ls). ESO derivation + tuning rationale: eso_derivation.md.

Must-Follow Rules

1. Plan first — numbered plan with parameter table and build-script structure. Get user approval.
2. One-click reproducibility — all parameters injected via set_param(mdl,'InitFcn',...); wref/TL profiles as From-Workspace inline expressions. See build_sop.md.
3. Model-free boundary + literal params — the MFPCC_ESO chart uses ONLY alpha, beta01, beta02, Tsc (embedded as build-time numeric literals == InitFcn, asserted; bare workspace names do NOT resolve in charts). Rs/Ls/psi_f inside the chart voids the method. See chart_contract.md.
4. Chart I/O contract is fixed — MFPCC_ESO: 6 in (ialpha, ibeta, theta_e, omega_e, iq_ref, id_ref) → 6 out (ua, ub, iq_meas, id_meas, Fa_o, Fb_o). See chart_contract.md.
5. Double-F warning — PMSM mask F = viscous friction B (plant); ESO state F = lumped disturbance (controller). Same letter, unrelated quantities. Never cross-assign.
6. Glue: inputs = six ZOH @ Tsc, output = Unit Delay @ Tsc (NOT ZOH) — the ua/ub Unit Delays realize the 1-step delay that deadbeat eqs (20)/(21) compensate; a ZOH applies u(k) in the same cycle → horizon broken → divergence. Chart stays INHERITED. See chart_contract.md §3.
7. ESO gains by closed form, asserted in build — omega0 = (1 − z12)/Tsc, beta01 = 2·omega0·Tsc, beta02 = omega0²·Tsc. Default z12 = 0.15, alpha = 50. See eso_derivation.md §3.
8. All-discrete solver — model FixedStepDiscrete @ Ts + powergui Discrete @ Ts; SpeedPI chart DISCRETE @ Tsc; re-commit both chart configs after wiring. See build_sop.md §5.
9. SVPWM workspace contract + sector-7 fix — the library SVPWM reads Tpwm and Vdc_val from workspace; carrier is hardcoded for Tpwm = 1e-4; apply the MultiPortSwitch sector-7 startup fix on the local instance. See build_sop.md §4.
10. id bias grows ∝ ωe² — expected physics, not a bug — do not "fix" it during acceptance; check it stays inside the documented envelope. See known_limitations.md #1.