Permanent Magnet Synchronous Motor Energy Shaping Control With Passive Resistance

Since 70years, the development and application of synchronous motor had been greatly promoted by the progress of science and technology. For example, the control technology of permanent magnet synchronous motor (PMSM) was encouraged by permanent magnet material, the development of power and electronic technology, integrated circuit and computer technology. Recently, PMSM has become more and more popular with its good performances, so the control technology is getting more mature, and the controllers have appeared productive. However, there still exist some established shortages in PMSM, such as the nonlinearity, strong coupling and time varying performances, the system would be disturbed in different degrees when it was operating. As a result, the general control strategys are hard to satisfy the control requests of PMSM servo system with high performances. In this thesis, the speed system of PMSM will be designed with the method of the interconnection and damping assignment passivity-based control (IDA-PBC) principle, based on the common energy-shaping and port-controlled Hamiltonian systems with dissipation (PCHD) model presented.The condition at home and abroad of PMSM and energy shaping control will be summarized, integrated with the common mathematics form of Euler-Lagrange and the PCHD system. Further, some important theories and definitions will be introduced about passivity, dissipation, stability, energy shaping and energy balance equation of passivity-based control and PCHD control method.Then the model of Euler-Lagrange and PCHD system for motor are established in the stationaryαβframe and synchronously rotating reference dq frame, respectively. Based on the common PCH mode of PMSM, the IDA-PBC principle, which is more mature, will be introduced to design the feedback controller for PMSM speed control system, meanwhile, the problems of antisymmetry matrix, damping matrix assignment, the choose of expect energy function, the seeking of equilibrium point and stability analysed are resolved. Most importantly, some expand control methods (Adaptive damping injection and L2 disturbance rejection control methods in this paper mainly) based on PCH will be studied.Next, the designed controller will be simulated in Matlab/Simulink. The contrast will be operated between vector control method and port-controlled Hamiltonian systems with dissipation, mainly from the model, simulation results and physical significance, so as to testify the virtues of the new controller, simple construct and be easy to accomplish, prove the expand control method being correctness and effectiveness.Finally, a summary is raised about the work in the whole thesis, some problems still existing in the area are proposed and a new direction will be indicted.