Passivity-based robust control of permanent magnet synchronous motors

This paper propose a hierarchical robust controller for permanent magnet synchronous motors (PMSM) based on Hamiltonian system theory. First, the dynamic model of the PMSM is transferred to an equivalent Hamiltonian system model which can extensively present the dissipative property of PMSM. Then, we put forward a feedback controller in the internal loop to re-assign the structure matrix, the Hamiltonian function and the equilibrium point. The asymptotic stability of the closed loop system is proven as well. Finally, a passivity-based robust control law is proposed in the outer loop to improve the robustness under external disturbances. Simulation comparison with the traditional control scheme demonstrates the effectiveness of the proposed controller. © 2013 by Binary Information Press.