This study presents a composite model predictive speed-loop controller for permanent magnet synchronous motor (PMSM) servo systems. To enhance the system's disturbance rejection capability and speed bandwidth, the proposed approach incorporates an extended state observer (ESO) and delay compensation within the speed loop. The ESO is designed to estimate the lumped disturbance torque and instantaneous speed. This estimated information, along with the delay characteristics of the current loop, is integrated into the predictive model. Finally, an optimal control law is derived through receding horizon optimization. Experimental results validate the effectiveness of the proposed controller, demonstrating significant improvements in dynamic response and bandwidth.

Model predictive control, extended state observer, single-loop, system delays, PMSM.