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](../motor-pmsm-base/SKILL.md); 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: [pmsmformulas.md §G](../../../shared/formulas/pmsmformulas.md) — ultralocal model

(4)/(7), ESO (8)–(17), deadbeat (18)–(21), method identity, parameters. Plant by reference: [pmsmformulas.md §8](../../../shared/formulas/pmsmformulas.md) (αβ complex-vector SPMSM; Ld = Lq = Ls). ESO derivation + tuning rationale: [esoderivation.md](references/esoderivation.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 [buildsop.md](references/buildsop.md).

1. 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/psif` inside the chart voids the method. See [chartcontract.md](references/chart_contract.md).

1. Chart I/O contract is fixed — MFPCC_ESO: 6 in `(ialpha, ibeta, thetae, omegae, iq_ref,

idref) → 6 out (ua, ub, iqmeas, idmeas, Fao, Fbo)`. See [chartcontract.md](references/chart_contract.md).

1. Double-F warning — PMSM mask F = viscous friction B (plant); ESO state F = lumped

disturbance (controller). Same letter, unrelated quantities. Never cross-assign.

1. 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 [chartcontract.md](references/chartcontract.md) §3.

1. 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 [esoderivation.md](references/esoderivation.md) §3.

1. All-discrete solver — model FixedStepDiscrete @ Ts + powergui Discrete @ Ts;

SpeedPI chart DISCRETE @ Tsc; re-commit both chart configs after wiring. See [buildsop.md](references/buildsop.md) §5.

1. 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 [buildsop.md](references/buildsop.md) §4.

1. id bias grows ∝ ωe² — expected physics, not a bug — do not "fix" it during acceptance; check

it stays inside the documented envelope. See [knownlimitations.md](references/knownlimitations.md) #1.

Build Flow

| Phase | Action | Reference | |---|---|---| | 0 | Validate inputs + sanity grid | base/[prebuildgrid.md](../motor-pmsm-base/references/prebuildgrid.md) | | 1 | Plant layer (powergui Discrete, DC, UB, PMSM, TL inline-FW, BusSelector) + measurement (Clark abc→αβ, Gain_Pn ×2 for θe/ωe) | [buildsop.md](references/buildsop.md) §2-§3 | | 2 | Outer SpeedPI chart (PI + anti-windup clamp ±iqmax) | [chartcontract.md](references/chartcontract.md) §2 | | 3 | MFPCC_ESO chart (two-channel ESO + deadbeat + delay comp) | [chartcontract.md](references/chartcontract.md) §1 | | 4 | Glue: 6 input ZOH @ Tsc + 2 output Unit Delay @ Tsc | [chartcontract.md](references/chartcontract.md) §3 | | 5 | Modulation (SVPWM library + sector-7 fix) → UB gate | [buildsop.md](references/buildsop.md) §4 | | 6 | Loggers (10 To Workspace) + Scope; solver + InitFcn + chart re-commit guard | [buildsop.md](references/buildsop.md) §5-§6 | | 7 | Acceptance (Layer 1 physics + Layer 2 metrics) | [acceptancecriteria.md](references/acceptance_criteria.md) |

Required User Inputs

Ask the user before starting. Validation-case defaults in [buildsop.md](references/buildsop.md) §7.

| Group | Parameters | |---|---| | Machine (7) | Rs, Ls (= Ld = Lq, SPMSM), psi_f, Pn, J, B (→ PMSM mask F), Vdc | | Control (5) | alpha (default 50), z12 (default 0.15), iq_max, Kp_w, Ki_w | | Sampling (3) | Ts (plant, default 1e-6), Tsc = Tpwm (control = switching, default 1e-4) | | Scenario (5) | wref_rpm, ramp_t, TL_val, TL_t, StopTime |

Triggers / Skip

| ✅ Use | ❌ Skip | |---|---| | Build / port / extend MFPCC-ESO (ultralocal + ESO + deadbeat + SVM) in Simulink | FCS-MPC single/dual/three-vector → motor-fcs-mpc family | | Model-free / parameter-free current loop with fixed switching frequency | FOC PI loops, DTC, SMC, sensorless, scalar V/Hz, BLDC | | Generalizing MFPCC-ESO to a new SPMSM parameter set | IPMSM saliency, MTPA, weak-field; IM predictive control; pure theory |

Generalization Across Machine Sub-Types

| Sub-type | Constraint | Verdict | |---|---|---| | SPMSM | Ld = Lq = Ls | ✅ supported; id_ref = 0 | | IPMSM (any saliency) | Ld ≠ Lq | ❌ out of scope — saliency introduces 2θe coupling that breaks the αβ ultralocal premise (pmsm_formulas §8) | | any SPMSM param set | — | topology unchanged (same blocks/wiring/charts); alpha/z12 defaults transfer (parameter-free law) |

Sibling Skills

• [motor-pmsm-base](../motor-pmsm-base/SKILL.md) — base infrastructure; [motor-smc-pmsm](../motor-smc-pmsm/SKILL.md) — closest architecture (outer + inner loop + SVPWM + UB)
• [motor-fcs-mpc](../motor-fcs-mpc/SKILL.md) / dualvector / trivector — FCS-MPC family (different identity: finite set); [motor-dtc-pmsm](../motor-dtc-pmsm/SKILL.md) — DTC

Source & license

This open-source skill is cataloged on AgentStack and links to its original source — we do not rehost the code.

• Author: calebzu
• Source: calebzu/pmsm-control-claude-skills-for-matlab
• License: Apache-2.0

Install and usage instructions live in the source repository linked above.