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Abstract
This paper is mainly focusing on the problem of speed tracking control for permanent magnet synchronous motor (PMSM) drive system subject to matched and mismatched disturbance. This is achieved by a novel Port-Controlled Hamiltonian control method with nonlinear disturbance observer. Different from the traditional speed-current cascade control for PMSM, the speed-current single loop controller is designed. Firstly, the Port-Controlled Hamiltonian model of PMSM is established, then the Hamiltonian speed controller is designed by using interconnection assignment and damping assignment method. However, the standard Hamiltonian controller cannot achieve the satisfying behavior in the presence of the parameter variations and external disturbance, thus a nonlinear disturbance observer is designed to estimate the lump disturbance of the system, which is used to the feed-forward compensation control. Finally, simulation and experiment on the speed control system of PMSM are implemented. The results show that the proposed method has fast speed control performance and strong robustness for the different disturbance.
Highlights
Permanent magnet synchronous motor (PMSM) has been widely used in many fields due to their excellent features such as high efficiency, high power density and high reliability
To improve the speed and current control performance, a number of modern nonlinear control methods have been applied in motor drive system, such as sliding mode control [2], adaptive backstepping control [3], model predictive control [4], active disturbance rejection control [5] and intelligent control [6], which enhance the motor control performance in different aspects
Consider the dynamic performance and robustness simultaneously, a novel controller is designed based on the Port-Controlled Hamiltonian (PCH) theory and nonlinear disturbance observer for the speed control system of permanent magnet synchronous motor
Summary
Permanent magnet synchronous motor (PMSM) has been widely used in many fields due to their excellent features such as high efficiency, high power density and high reliability. X. Liu et al.: Novel Speed Control Method Based on PCH and Disturbance Observer for PMSM Drives model and parameters in the practical system. The mismatched uncertainties are existed in the Hamiltonian model of PMSM These methods cannot estimate the lump disturbance in the system. Consider the dynamic performance and robustness simultaneously, a novel controller is designed based on the PCH theory and nonlinear disturbance observer for the speed control system of permanent magnet synchronous motor. The contributions of the paper are 1) the nonlinear disturbance observer is introduced to the PortControlled Hamiltonian control of PMSM, instead of the existing control method with load torque observer.
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