How Can Delay in Digital Motor Control Be Tackled?

Описание: Paper title: Efficient Half-Step Delay Compensation for Deadbeat Predictive Current Control of 2-Level Inverters Using Low-Cost ARM Cortex-M Microcontrollers

Authors' names: Sarina Zirak Sima, Dr. Mostefa Kermadi

Affiliations: University of Leicester

Paper abstract: This paper presents a half-step delay compensation method for deadbeat predictive current controllers using Space Vector Modulation (SVM) for two-level inverters. The proposed method is validated on a hardware-in-the-loop (HIL) platform using an ARM Cortex-M-based STM32F401RE microcontroller and a PLECS RT Box real-time simulator. The proposed approach is evaluated against three different implementation modes: Modes A and B both utilize the deadbeat control law without explicit delay compensation. Mode A samples at the start of each switching period, incurring a full-step computational delay Ts, while Mode B samples at the midpoint, halving the effective delay to Ts/2. Mode AC incorporates a traditional one-step delay compensation to explicitly cancel the computational latency within the deadbeat law, while the proposed Mode BC uniquely compensates for the inherent half-step delay in Mode B. All interrupt service routine (ISR) execution times (28.8–35.1 µs) confirm real-time feasibility on the ARM Cortex-M4 within the 100 µs sampling budget. At a reference current of 0.25 A, where delay effects are most pronounced, the proposed Mode BC achieves the best overall performance, reducing THD by 85% and cutting the RMS tracking error from +4.03% to within +0.13% relative to the uncompensated baseline (Mode A).

Any additional information included with your video on YouTube: This work was conducted by Sarina Zirak Sima and Dr Mostafa Kermadi at the University of Leicester.