Abstract
In this work, the problem of parameter uncertainty of the Permanent Magnet Synchronous Motor (PMSM) model in the $dq$ reference frame is studied by implementing an adaptive control scheme. The starting point of this paper is to analyze the system structure and represent the system as an interconnection between the electric subsystem, which is a completely actuated system, and the mechanical subsystem which is not actuated. This decomposition allows the design of a current tracking control based on the Passivity Based Control (PBC) methodology for the electrical subsystem. The interconnection, which is power preserving, allows to consider the unactuated mechanical subsystem as a passive perturbation that is proven to be bounded. The numerical evaluation was done by a MATLAB Simulink simulation with a comparison that shows that the designed control is able to deal with the parameters uncertainties of the electrical subsystem.
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