IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 38, NO.

6, JUNE 2023 7535

An Improved Model Predictive Torque Control for

PMSM Drives Based on Discrete
Space Vector Modulation
Wei Zhang, Yong Yang , Senior Member, IEEE, Mingdi Fan , Senior Member, IEEE, Liqun He , Member, IEEE,
Aiming Ji, Yang Xiao , Member, IEEE, Huiqing Wen , Senior Member, IEEE, Xinan Zhang , Member, IEEE,
Tao Yang , Senior Member, IEEE, Saad Mekhilef , Fellow, IEEE, and Jose Rodriguez , Life Fellow, IEEE

Abstract— In this article, an improved model predictive torque I. INTRODUCTION

control (MPTC) method based on discrete space vector modulation
IELD oriented control (FOC) and direct torque control
(DSVM) is proposed for permanent magnet synchronous motor
(PMSM) drives. Aiming at solving the two problems of large torque
ripples and high computational complexity in conventional MPTC,
F (DTC) are two classical methods for high-performance
motor drives [1], [2], [3], [4]. Compared with FOC, DTC
the proposed method adopts a second optimization and a new has faster dynamic response, simpler structure and stronger
simplified search strategy. The key idea of second optimization
is to make the output voltage vector closer to the actual optimal
robustness [5], [6]. The conventional DTC uses two hysteresis
solution. In this case, a more suitable voltage vector is applied comparators for torque and flux control instead of employing the
in each sampling period. The simplified search strategy reduces inner loop current regulators. One appropriate voltage vector is
the calculation time by cutting down the number of candidate directly selected from the switching table without coordinate
voltage vectors without affecting drives performance. Compared transformation and pulsewidth modulation [7], [8]. Unfortu-
to the conventional MPTC without DSVM and with DSVM, the
proposed method can produce superior steady-state performance
nately, the conventional DTC suffers from the problems of high
and lower computational complexity. Simulation and experimental torque ripples, large current harmonics and variable switching
results are presented to validate the effectiveness and feasibility of frequency [9], [10], [11].
the proposed method. To overcome these problems, some advanced control ap-
Index Terms—Discrete space vector modulation (DSVM), model proaches are proposed in recent years, model predictive control
predictive torque control (MPTC), permanent magnet synchronous (MPC) is an attractive method among them [11], [12], [13],
motor (PMSM). [14], [15]. One common example is the finite-control set based
model predictive torque control (FCS-MPTC), which integrates
Manuscript received 20 September 2022; revised 15 January 2023; accepted the widely used MPC approach into DTC. The conventional
9 March 2023. Date of publication 15 March 2023; date of current version FCS-MPTC can select the optimal voltage vector based on a
20 April 2023. This work was supported in part by the National Natural user-defined cost function, while satisfying the system con-
Science Foundation of China under Grants 51977136, 52277062, and 52007127,
in part by the Nature Science Youth Foundation of Jiangsu Province under straints. Moreover, the parameter robustness of FCS-MPTC is
Grant BK20220499, and in part by Projects FB0008, 1210208, and 1221293. good. Nonetheless, the FCS-MPTC only applies one voltage
Recommended for publication by Associate Editor M. Shen. (Corresponding vector in the entire control cycle, so the high torque and flux
authors: Yong Yang; Mingdi Fan.)
Wei Zhang, Yong Yang, Mingdi Fan, Liqun He, Aiming Ji, and ripples still exists [11], [14], [15].
Yang Xiao are with the School of Rail Transportation, Soochow Uni- In order to overcome the drawbacks in conventional FCS-
versity, Suzhou 215131, China (e-mail: wzhangwzhang98@[Link]; MPTC, many improved methods have been proposed [16],
yangy1981@[Link]; mdfan@[Link]; lqhe@[Link]; jiaim-
ing@[Link]; yangxiao@[Link]). [17]. These methods can be broadly categorized as hardware
Huiqing Wen is with the Electrical and Electronics Department, based and software based methods. Hardware based methods
the Xi’an Jiaotong-Liverpool University, Suzhou 215123, China (e-mail: usually utilize the matrix converters and multilevel converters.
[Link]@[Link]).
Xinan Zhang is with the Department of Electrical, Electronic and Computer For example, predictive controllers for matrix-converter driven
Engineering, University of Western Australia, Perth, WA 6009, Australia (e- interior PMSM are designed in [16]. The number of output
mail: [Link]@[Link]). voltage vectors increases drastically when more switches are
Tao Yang is with the Power Electronics Machines and Control
Group, University of Nottingham, NG7 2RD Nottingham, U.K. (e-mail: employed. Experimental results show that the proposed method
[Link]@[Link]). can achieve good dynamic responses. In [17], some meaningful
Saad Mekhilef is with the School of Software and Electrical Engineering, research is carried out on the four-level hybrid-clamped con-
Faculty of Science, Engineering and Technology, Swinburne University of
Technology, Victoria, VIC 3122, Australia (e-mail: saad@[Link]). verter (4L-HCC). Compared with the 8 available voltage vectors
Jose Rodriguez is with the Faculty of Engineering, Universidad San Sebastian in two-level inverter, the number of candidate voltage vectors
Santiago, Santiago 8370146, Chile (e-mail: [Link]@[Link]). in 4L-HCC is 512. Despite the performance improvement, the
Color versions of one or more figures in this article are available at
[Link] hardware based methods generally require more sophisticated
Digital Object Identifier 10.1109/TPEL.2023.3257399 inverter topology and thus, result in higher cost.

0885-8993 © 2023 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See [Link] for more information.

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7536 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 38, NO. 6, JUNE 2023

In comparison, the software based methods often focus on

the improvement of reference voltage vector synthesis through
control or modulation [18], [19], [20], [21], [22]. Among them,
two-vector-based FCS-MPTC can be divided into narrow and
general concepts according to whether the second vector is
a zero vector [18]. The narrow two-vector-based FCS-MPTC
uses only a zero vector along with an active vector during each
sampling period [19], which is also called duty cycle control.
On the other hand, the general two-vector-based FCS-MPTC
chooses to use the zero vectors or the active vector as the second
voltage vector according to the actual needs of the output voltage
[20]. The general two-vector-based FCS-MPTC is studied in Fig. 1. Scheme of a PMSM drive.
detail in [21]. From the experimental results, it is concluded
that the proposed method obtains better performance with a
lower switching frequency compared with narrow two-vector-
VV changes. To be specific, the location of reference VV is
based FCS-MPTC. In order to further enhance the performance,
divided into three cases in the adopted searching strategy. The
three-vector-based FCS-MPTC has been proposed in [22] which
detail of three cases will be discussed in the following section.
employs three vectors (active vectors or zero vectors) for the
Compared with the traditional MPTC that needs to iteratively
synthesis of reference voltage vector. Compared to two-vector-
evaluate 38 candidate VVs in the cost function to find out the
based FCS-MPTC, three-vector-based FCS-MPTC can obtain
optimal VV, the proposed method only needs to evaluate 7, 20,
much better performance. However, the above methods need to
and 15 candidate VVs in the aforementioned three cases while
select two or three appropriate voltage vectors and calculate their
being able to determine the optimal VV Thus, the computational
corresponding time duration in each sampling period, which
time is greatly reduced. On the other hand, the proposed method
imposes a large calculation burden on the microprocessor.
develops second stage optimization based on the virtual voltage
Discrete space vector modulation (DSVM) method has been
vectors generated by DSVM to further improve the steady-state
acknowledged as a competitive method for torque ripples re-
performance of drives. The key to second stage optimization is
duction in motor drives [23], [24], [25], [26], [27]. The idea
to make the output voltage vector closer to the reference voltage
of DSVM is to divide a sampling period into several parts so
vector, which results in reduced torque ripples and current
that a large amount of virtual voltage vectors can be generated
harmonics. The feasibility and effectiveness of the proposed
[23]. In [24], a deadbeat predictive torque control with DSVM is
method are verified by abundant simulation and experimental
proposed. The number of candidate voltage vectors is increased
tests on a two-level inverter-fed PMSM.
from 8 to 38. It can be seen from the experimental results that
the torque ripples and current harmonics of the proposed method
are reduced greatly compared to method without DSVM. In II. MODELS OF SYSTEM
[25], DSVM is extended to six-phase induction motor drives, a A. Mathematical Model
more suitable voltage vector is selected to fulfill the torque/flux
requirements by utilizing many virtual voltage vectors. How- The topology of a two-level voltage source inverter driving a
ever, the main disadvantage of conventional DSVM based FCS- PMSM is shown in Fig. 1. The output voltage changes according
MPTC is a heavy computational burden due to the enumeration to different switching states as
of all candidate voltage vectors in one sampling period [26]. 2
Especially, the computational burden increases drastically when Vi = udc (S1 + aS2 + a2 S3 ) (1)
3
the sampling period is divided into four or more, which makes
it very difficult to apply DSVM to real-time control applications where Vi (i = 0, . . . , 7) is the terminal voltage applied to PMSM,
[27]. udc is dc bus voltage, and S1 , S2 , S3 are the switching states of
In order to reduce the computational time while maintaining three bridge arms, and a = ei2π/3 .
the performance of conventional DSVM based FCS-MPTC, Fig. 2 shows the voltage vectors generated by the inverter.
several approaches are proposed in [28] and [29]. In [28], the The time domain mathematical model of a PMSM in the
number of candidate voltage vectors is reduced from 38 to 3 rotating d, q-reference frame is given as
with the help of deadbeat control method. In [29], the sector 
determination is added before cost function enumeration. Con- ud = Rs id + Ld didtd − Lq ωe iq
di
(2)
sequently, the number of candidate voltage vectors is reduced uq = Rs iq + Lq dtq + Ld id ωe + ψf ωe
from 38 to 15 without other algorithm cost.
In this article, an improved MPTC based on DSVM is pro- where ud and uq are d, q-axis stator voltages, id and iq are d,
posed for PMSM drives. On one hand, for the purpose of q-axis stator currents, Rs is stator winding resistance, Ld and Lq
reducing calculation burden, the proposed method adopts a novel are d, q-axis inductances, ωe is electrical rotor angular velocity,
flexible searching strategy according to the real-time reference and ψf is the magnitude of permanent magnet flux linkage.

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ZHANG et al.: IMPROVED MPTC FOR PMSM DRIVES BASED ON DISCRETE SPACE VECTOR MODULATION 7537

Fig. 2. Basic voltage vectors.

Fig. 3. Control block diagram of proposed method.

In order to predict the future behavior, the system model is

discretized by using forward Euler equation as TABLE I
PARAMETER OF PLATFORM

x(k + 1) = Ax(k) + Bu(k) + ε
(3)
y(k) = Cx(k) + φ

where x = [id iq ]T , u = [ud uq ]T , y = [Te ψd ψq ]T , and

 ω e T s Lq
  
1 − RLs dTs Ts
0
A= Ld
,B = Ld
− ωe L
T s Ld
q
1 − RLs Tq s 0 L Ts
q

⎡ ⎤   ⎡ ⎤
0 3pψf /2 0 0
C = ⎣ Ld 0 ⎦,ε = ω e T s ψ f , φ = ⎣ψf ⎦ (4)
− Lq
0 Lq 0
where Ts is the sampling period, id (k + 1), iq (k + 1) are
the predictive values of d, q-axis currents at instant k+1,
id (k), iq (k) are the actual values of d, q-axis currents at instant k,
ud (k).uq (k) are the actual values of d, q-axis voltages at instant
k, p is the number of pole pairs of the PMSM.

B. Cost Function Design

In FCS-MPTC, the cost function is usually designed as fol-
lows:
Then the different cases are categorized as
J = (Te (k + 1) − Te∗ )2 + σ(ψ(k + 1) − ψ ) ∗ 2
(5)
Case 1 : 0< |uopt | < 2udc /9 (7)
where σ is the weighting factor.
The adjustment of the weighting factor has always been a Case 2 : 2udc /9 < |uopt | < 4udc /9 (8)
problem in conventional MPTC. In this article, the value of σ is Case 3 : 4udc /9 < |uopt | < 2udc /3 (9)
obtained through a thorough trial and error debugging process.
In proposed method, the value of σ is set to 1265. where |uopt | is the amplitude of the reference voltage vector and
udc is the actual dc-bus voltage.
III. PRINCIPLE OF PROPOSED METHOD The second part is the process of selecting the optimal voltage
vector. On the basis of the virtual voltage vectors generated
The control block diagram of the proposed method in this
by DSVM, the proposed method performs a second step of
article is shown in the Fig. 3. The implementation process can
optimization. A more suitable voltage vector is selected which
be divided to three parts. The first part adopts a simplified search
can greatly reduce torque ripples and current harmonics, and the
strategy to reduce the computational burden. This search strategy
control performance is significantly improved.
changes according to the amplitude of reference voltage vector
The third part discusses the determination of radius for virtual
of different cases. First, the reference voltage vector can be
range.
calculated with the constrains of (6) on the basis of system model
In this article, verification work is carried out in a two-level
Te (k + 1) = Te∗ inverter PMSM drives. The parameter of platform is given in
→ uopt (6)
ψ(k + 1) = ψ ∗ Table I. As given in Table I, udcmax = 310 V.

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7538 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 38, NO. 6, JUNE 2023

TABLE II
VECTORS OF DIFFERENT CASES

TABLE III
VECTORS OF DIFFERENT SECTORS IN CASE 3

Fig. 4. Description of all candidate voltage vectors.

Therefore, the simplified search strategy is described as fol-

lows.
1) In case 1, only six voltage vectors on the edge of  1 and
two zero vectors are used for selection. The number of
candidate voltage vectors is reduced from 38 to 7.
2) In case 2, using the voltage vectors on the edge of  1 and
Fig. 5. Comparison of [uα , uβ ] of two methods at 900 r/min: Method 1: 2 for cost function evaluation. The number candidate
Traditional exhaustive strategy; Method 2: Proposed simplified strategy. voltage vectors is reduced from 38 to 20.
3) In case 3, using the voltage vectors on the edge of  2 and
3 for prediction. Specially, the optimal sector is identified
A. Simplified Search Strategy by evaluating cost function of the central vectors located at
First, 38 voltage vectors, including 8 basic voltage vectors the center of six sectors. Then the voltages vectors in one
and 30 virtual voltage vectors, are synthesized via DSVM by sector are provided. In this case the number of candidate
dividing each sampling period into three equal parts. The de- voltage vectors is reduced from 38 to 12.
scription of virtual voltage vectors is shown in the Fig. 4. In The candidate voltage vectors in different cases are given in
Fig. 4, the vector hexagon is divided into three regions, which Table II.
correspond to the above three cases. The number “0”,“1”, “2”, In cases 1 and 2, using (5) to calculate the cost function of the
“3” correspond to the output voltage of 0, 2udc /9, 4udc /9, 2udc /3, voltage vectors in Table II, a suboptimal voltage vector can be
respectively. obtained as
The conventional MPTC with DSVM evaluates the cost func-
uopt1 = arg min J . (10)
tion for all 38 candidate voltage vectors in one sampling period, 
1/
2
which is very time-consuming. In the proposed method, the ref-
erence voltage vector can be calculated by PMSM mathematical In particular, in case 3, the sector selection is performed as
model. Based on this feature, the simplified searching strategy Sector = arg min J. (11)
adopts different strategies to narrow the range of candidate 
3
vectors in these three cases. The proposed simplified strategy
Then, the cost function is evaluated according to the candidate
is compared with the traditional exhaustive search strategy in
voltage vector corresponding to the selected sector in Table III.
environment of MATLAB/Simulink. The voltage vectors se-
A suboptimal voltage vector can be obtained as
lected by the two methods are compared in Fig. 5. It can be
seen that the voltage vectors selected by the two methods are uopt1 = arg min J. (12)
similar validating the proposed simplified search strategy. Table 3

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ZHANG et al.: IMPROVED MPTC FOR PMSM DRIVES BASED ON DISCRETE SPACE VECTOR MODULATION 7539

TABLE IV
VECTORS AFTER THE SECOND OPTIMIZATION

Fig. 6. Comparisons of αβ-axis components of selected voltage vector. (a)

300 r/min. (b) 900 r/min. (c) 1500 r/min.

Fig. 8. Algorithm flowchart of proposed method.

Fig. 7. Schematic diagram of second optimization.

six new voltage vectors in a suitably small range. These voltage

vectors are used together with uopt1 for the second cost function
B. Optimization Process
evaluation to obtain the final voltage vector uopt2 which will be
The core idea in optimization process is to equate predicted closer to the reference voltage vector.
value and the reference value. This process can be described by Table IV lists the candidate voltage vectors based on uopt1 .
(6). The optimal voltage vector can be obtained as
With uopt and uopt1 calculated by part III, the proposed
method makes comparisons of the αβ-axis components in sim- uopt2 = arg min J. (13)
ulation. The results are shown in Fig. 6. It is visible from the left Table 4
hand side figures that a clear difference between the two vectors
exists in a wide speed range. As shown in Fig. 7, with the uopt1 The right hand side of Fig. 6 shows that the distance between
obtained by part A, in order to reduce the distance between the uopt2 and the reference voltage vector becomes significantly
reference and the selected voltage vectors, the proposed method smaller.
adopts a second stage optimization base on uopt1 to synthesize The flowchart of this algorithm is shown in Fig. 8.

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7540 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 38, NO. 6, JUNE 2023

Fig. 10. Value of radius at different cases.

Fig. 11. Test bench.

TABLE V
EXECUTION TIME OF THREE METHODS
Fig. 9. Determination of virtual radius in region 
1 .

C. Determination of Radius
The determination of the virtual radius is rarely discussed
in recent literature. In this article, when the amplitude of the
reference voltage vector satisfies the region  1 , as shown in
Fig. 9, the value of virtual radius adopts the radius of the vector
circle. And when the amplitude increases to more than half of The waveform of the radius is shown in Fig. 10. It can be seen
the side length of the vector hexagon, the inscribed circle of that when the speed is at center of cases, the maximum radius is
the hexagon and the reference voltage vector circle are made, 0.1667, and the minimum boundary is 0.06 when the speed is at
then the radius of the inscribed circle is adopted as the value of the boundary of cases.
virtual radius. In area 2 and area  3 , the corresponding virtual
radius can be obtained in the similar way. This process can be IV. EXPERIMENTAL RESULTS
summarized as follows:
In this section, the effectiveness of proposed method is tested

R1 = |uopt | on the platform in Fig. 11. The microcontroller used to imple-
Case 1 : (14)
R2 = 13 − R1 ment the control system is DSP28335. The conditions remain
 consistent with simulations. In addition, the proposed method is
R1 = |uopt | − 13
Case 2 : (15) compared with the traditional MPTC, MPTC that employs 38
R2 = 23 − R1 virtual voltage vectors (VV38-MPTC) under the same condi-

R1 = |uopt | − 23 tions. The experimental data are transferred to the PC through
Case 3 : (16) a serial port. The switching frequency of three methods is fixed
R2 = 1 − R1
at 10 kHz. The dc-bus voltage is set to 124 V. The load torque
where R1 and R2 are intermediate variables. is set to 0.5 N·m.
The value of radius can be obtained using as
A. Computational Time
R = min{R1 , R2 } + Rbase (17)
In order to evaluate the computational burden of the afore-
where R is value of radius and Rbase is the offset of boundary mentioned three methods, the execution time of the algorithm is
conditions when |uopt | is2udc /9, 4udc /9, 2udc /3. Its value is set measured, including sampling time, coordinate transformation,
to 6% of maximum output voltage to prevent deterioration of prediction time, cost function evaluation and etc. The results are
control performance. given in Table V.

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ZHANG et al.: IMPROVED MPTC FOR PMSM DRIVES BASED ON DISCRETE SPACE VECTOR MODULATION 7541

Fig. 12. Steady-state experimental results at 300 r/min of case 1. (a) Conventional MPTC. (b) VV38-MPTC. (c) Proposed method.

Fig. 13. Steady-state experimental results at 900 r/min of case 2. (a) Conventional MPTC. (b) VV38-MPTC. (c) Proposed method.

Fig. 14. Steady-state experimental results at 1500 r/min of case 3. (a) Conventional MPTC. (b) VV38-MPTC. (c) Proposed method.

Fig. 15. RMS of torque ripples of three methods.

Fig. 16. RMS of flux ripples of three methods.

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7542 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 38, NO. 6, JUNE 2023

Fig. 17. THD of phase current of three methods.

Fig. 18. Steady-state experimental results at -500 r/min of case 3. (a) Conventional MPTC. (b) VV38-MPTC. (c) Proposed method.

Fig. 19. Steady-state experimental results at 2500 r/min of case 3. (a) Conventional MPTC. (b) VV38-MPTC. (c) Proposed method.

It can be seen the conventional MPTC has the shortest exe- speeds of 300n, 900, and 1500 r/min are shown in Figs. 12–14.
cution time due to its simple structure. The execution time of Moreover, the RMS values of torque and flux linkage ripples
proposed method is significantly lower than that of the VV38- and THD of phase current are shown in Figs. 15–17. Moreover,
MPTC under different cases. in order to evaluate the performance of the proposed method
in the full speed range. Figs. 18 and 19 correspond to the
experimental waveforms when the motor is reversed and at high
B. Steady-State Performance Analysis speed, respectively.
In order to test the steady-state performance of the proposed From these comparative experimental results, it is obvious
method in the full speed range, the comparable waveforms of that the torque and flux ripples of the proposed method are
torque, flux linkage and phase A current of three methods at the lower than other two methods in the full speed range. The

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ZHANG et al.: IMPROVED MPTC FOR PMSM DRIVES BASED ON DISCRETE SPACE VECTOR MODULATION 7543

Fig. 20. Dynamic experimental results at 1500 r/min of case 3. (a) Conventional MPTC. (b) VV38-MPTC. (c) Proposed method.

Fig. 21. Dynamic experimental results at 1000 r/min of load change. (a) Conventional MPTC. (b) VV38-MPTC. (c) Proposed method.

phase current THD is reduced significantly in the proposed Compared to the conventional MPTC with DSVM, the proposed
method. This is because the proposed method applies a more method contributes to substantially diminish the torque/flux
suitable voltage vector that is closer to the reference voltage ripples and current harmonics in PMSM drives while reducing
vector. the computational burden. A new simplified vector search-
ing strategy is adopted to narrow down the range of candi-
C. Dynamic Performance Analysis date voltage vectors based on location of reference voltage
vector.
To assess the dynamic performance of the proposed method,
the waveforms are measured in the case of a sudden change
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pp. 1514–1527, Feb. 2018.
[12] M. J. Navardi, J. Milimonfared, and H. A. Talebi, “Torque and flux ripples
minimization of permanent magnet synchronous motor by a predictive-
based hybrid direct torque control,” IEEE J. Emerg. Sel. Topics Power
Electron., vol. 6, no. 4, pp. 1662–1670, Dec. 2018.
[13] L. Yan, M. Dou, and Z. Hua, “Disturbance compensation-based model
predictive flux control of SPMSM with optimal duty cycle,” IEEE J. Emerg. Yong Yang (Senior Member, IEEE) received the B.S.
Sel. Topics Power Electron., vol. 7, no. 3, pp. 1872–1882, Sep. 2019. degree in automation from Xiangtan University, Xi-
[14] J. S. Lee, C.-H. Choi, J.-K. Seok, and R. D. Lorenz, “Deadbeat-direct angtan, China, in 2003, the M.S. degree in electri-
torque and flux control of interior permanent magnet synchronous ma- cal engineering from Guizhou University, Guiyang,
chines with discrete time stator current and stator flux linkage observer,” China, in 2006, and the Ph.D. degree in electri-
IEEE Trans. Ind. Appl., vol. 47, no. 4, pp. 1749–1758, Jul./Aug. 2011. cal engineering from Shanghai University, Shanghai,
[15] Y. Zhou, H. Li, R. Liu, and J. Mao, “Continuous voltage vector model- China, in 2010.
free predictive current control of surface mounted permanent magnet He is currently a Full Professor with the School
synchronous motor,” IEEE Trans. Energy Convers., vol. 34, no. 2, of Rail Transportation, Soochow University. From
pp. 899–908, Jun. 2019. December 2017 to December 2018, he was a Visiting
[16] M. S. Mubarok and T.-H. Liu, “Implementation of predictive controllers Scholar with Center for High Performance Power
for matrix-converter-based interior permanent magnet synchronous motor Electronics, The Ohio State University, Columbus, OH, USA. He has coauthored
position control systems,” IEEE J. Emerg. Sel. Topics Power Electron., more than 100 journal and conference papers. His current research interests
vol. 7, no. 1, pp. 261–273, Mar. 2019. include model predictive control in power electronic converters, distributed
[17] Y. Yang et al., “An optimized model predictive control for three-phase four- energy resource interfacing and high-performance motor drive control.
level hybrid-clamped converters,” IEEE Trans. Power Electron., vol. 35,
no. 6, pp. 6470–6481, Jun. 2020.
[18] Y. Zhang and J. Zhu, “Direct torque control of permanent magnet syn-
chronous motor with reduced torque ripple and commutation frequency,”
IEEE Trans. Power Electron., vol. 26, no. 1, pp. 235–248, Jan. 2011. Mingdi Fan (Senior Member, IEEE) received B.S.
[19] K.-K. Shyu, J.-K. Lin, V.-T. Pham, M.-J. Yang, and T.-W. Wang, “Global degree in electrical engineering and the Ph.D. degree
minimum torque ripple design for direct torque control of induction in detection technology and automation device from
motor drives,” IEEE Trans. Ind. Electron., vol. 57, no. 9, pp. 3148–3156, Northwestern Polytechnical University, Xi’an, China,
Sep. 2010. in 2008 and 2014.
[20] W. Chen, S. Zeng, G. Zhang, T. Shi, and C. Xia, “A modified double From 2010 to 2011, he was a Visiting Scholar with
vectors model predictive torque control of permanent magnet synchronous Kassel University, Kassel, Germany. He is currently
motor,” IEEE Trans. Power Electron., vol. 34, no. 11, pp. 11419–11428, an Associate Professor with the School of Rail Trans-
Nov. 2019. portation, Soochow University, Suzhou, China. His
[21] Y. Zhang and H. Yang, “Two-vector-based model predictive torque control current research interests include model predictive
without weighting factors for induction motor drives,” IEEE Trans. Power control for power converters and motor drives.
Electron., vol. 31, no. 2, pp. 1381–1390, Feb. 2016.
[22] S. Chai, L. Wang, and E. Rogers, “A cascade MPC control structure for
a PMSM with speed ripple minimization,” IEEE Trans. Ind. Electron.,
vol. 60, no. 8, pp. 2978–2987, Aug. 2013.
[23] D. Casadei, G. Serra, and K. Tani, “Implementation of a direct control Liqun He (Member, IEEE) received the B.E. and
algorithm for induction motors based on discrete space vector modulation,” Ph.D. degrees from the Huazhong University of Sci-
IEEE Trans. Power Electron., vol. 15, no. 4, pp. 769–777, Jul. 2000. ence and Technology, Wuhan, China, in 2010 and
[24] Z. Zhou, C. Xia, Y. Yan, Z. Wang, and T. Shi, “Torque ripple minimization 2015 respectively, all in electrical engineering.
of predictive torque control for PMSM with extended control set,” IEEE She is currently an Associated Professor with the
Trans. Ind. Electron., vol. 64, no. 9, pp. 6930–6939, Sep. 2017. Soochow University, Suzhou, China. Her research
[25] I. M. Alsofyani, S.-M. Kim, and K.-B. Lee, “Finite set predictive torque interests include fully modular power electronics sys-
control based on sub-divided voltage vectors of PMSM with deadbeat tems, power electronic transformer, railway electrifi-
control and discrete space vector modulation,” in Proc. IEEE Appl. Power cation, and multi-physics fields of electrical equip-
Electron. Conf. Expo., 2019, pp. 1853–1857. ment.

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ZHANG et al.: IMPROVED MPTC FOR PMSM DRIVES BASED ON DISCRETE SPACE VECTOR MODULATION 7545

Aiming Ji received the B.S. and M.S. degrees in au- Tao Yang (Senior Member, IEEE) received the
tomation from University of Science and Technology [Link]. degree in electrical engineering from Shang-
Liaoning, Anshan, China, in 1995 and 1999, respec- hai Jiao Tong University, Shanghai, China, in 2008,
tively, and the Ph.D. degree in circuit and system from and the Ph.D. degree in electrical engineering from
Zhejiang University, Hangzhou, China, in 2006. the University of Nottingham, Nottingham, U.K., in
He is currently an Associate Professor with the 2013. Since 2013, he has been a Researcher with
School of Rail Transportation, Soochow University, the Power Electronics, Machines and Control Group,
Suzhou, China. His current research interests include University of Nottingham, where he was an Assistant
embedded system and low power design. Professor in 2016, and an Associate Professor in
2019. His research interests include high-speed elec-
tric motor drive control, power electronic conversion,
electrical system design and optimization for more electric/hybrid/all-electric
aircraft applications.
Dr. Yang is currently an Associate Editor for IEEE TRANSACTIONS ON
TRANSPORTATION ELECTRIFICATION and Chinese Journal of Aeronautics. His
Ph.D. research within EU Clean Sky on “Modeling electrical power system for
Yang Xiao (Member, IEEE) received the [Link]. de- more-electric aircraft applications” has resulted in him winning the inaugural
gree in electrical engineering and automation from “Clean Sky Best Ph.D. Award” in 2016.
Soochow University, Suzhou, China, in 2014, the
[Link]. degree in electrical engineering from South-
east University, Nanjing, China, in 2017, and the
Ph.D. degree in electrical engineering from City Uni-
versity of Hong Kong, Hong Kong, in 2020.
He is currently a Lecturer with the School of Rail
Transportation, Soochow University, Suzhou, China.
His main research interests include wireless power Saad Mekhilef (Fellow, IEEE) received the [Link].
transmission, battery charger and control of multi- degree in electrical engineering from the University of
phase drive systems. Setif, Setif, Algeria, in 1995, and the Master’s degree
in engineering science and the Ph.D. degree in electri-
cal engineering from the University of Malaya, Kuala
Lumpur, Malaysia, in 1998 and 2003, respectively.
He is currently a Distinguished Professor with
the School of Science, Computing and Engineering
Technologies, Swinburne University of Technology,
Huiqing Wen (Senior Member, IEEE) received the
Melbourne, VIC, Australia, and an Honorary Profes-
B.S. and M.S. degrees in electrical engineering from
sor with the Department of Electrical Engineering,
Zhejiang University, Hangzhou, China, in 2002 and University of Malaya, Kuala Lumpur, Malaysia. He has authored or coauthored
2006, respectively; and the Ph.D. degree in electrical
more than 500 publications in academic journals and proceedings and 5 books
engineering from the Chinese Academy of Sciences,
with more than 32 000 citations. His current research interests include power
Beijing, China, in 2009.
converter topologies, the control of power converters, renewable energy, and
From 2009 to 2010, he was an electrical engi-
energy efficiency.
neer with the Research and Development Center, GE
(China) Company, Ltd., Shanghai, China. From 2010
to 2011, he was an Engineer with the China Coal Re-
search Institute, Beijing, China. From 2011 to 2012,
he was a Postdoctoral Fellow with the Masdar Institute of Science and Technol-
ogy, Abu Dhabi, United Arab Emirates. He is currently a Full Professor with
the Xi’an Jiaotong-Liverpool University, Suzhou, China. His current research
interests include bidirectional dc–dc converters, power electronics in flexible
Jose Rodriguez (Life Fellow, IEEE) received the
ac transmission applications, electrical vehicles, and high-power, three-level
Engineer degree in electrical engineering from the
electrical driving systems.
Universidad Tecnica Federico Santa Maria, in Val-
paraiso, Chile, in 1977 and the Dr.-Ing. degree in
electrical engineering from the University of Erlan-
gen, Erlangen, Germany, in 1985.
He has been with the Department of Electron-
ics Engineering, Universidad Tecnica Federico Santa
Xinan Zhang (Member, IEEE) received the B.E. Maria, since 1977, where he was a Full Professor
degree in electrical engineering and automation from and the President. From 2015 to 2019, he was the
Fudan University, China, in 2008, and the Ph.D. de- President of Universidad Andres Bello in Santiago,
gree in electrical engineering from Nanyang Techno- Chile. Since 2022, he has been the President of Universidad San Sebastian in
logical University (NTU), Singapore, in 2014. Santiago, Chile. He has coauthored two books, several book chapters and more
He was a Postdoc Researcher with NTU and the than 700 journal and conference papers. His main research interests include
University of New South Wales, from 2014 to 2017. multilevel inverters, new converter topologies, control of power converters, and
He was a Lecturer with NTU, from June 2017 to adjustable-speed drives.
September 2019. Since September 2019, he has been Dr. Rodriguez was the recipeint of number of best paper awards from journals
a Senior Lecturer with the University of Western of the IEEE. He is member of the Chilean Academy of Engineering. In 2014. he
Australia, Crawley, WA, USA. His research interests was also the recipient of the National Award of Applied Sciences and Technology
include electrical machine drives, control and modulation of power electronic from the government of Chile and Eugene Mittelmann Award from the Industrial
converters and design of hybrid energy storage systems. Electronics Society of the IEEE, in 2015. In years 2014 to 2021, he has been
included in the list of Highly Cited Researchers published by Web of Science.

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