Permanent Magnet Synchronous Motor Servo Control Based On Port-controlled Hamiltonian Method

With the rapid development of science and technology, the control performance of AC motor is more and more close to DC motor, AC motor is favored by the majority of users with low maintenance cost, high efficiency and high efficiency. Permanent magnet synchronous motor(PMSM) as its size is small, high power density, high efficiency advantages in applications requiring high accuracy has been widely used, especially in aerospace and high precision CNC machine tools, so PMSM servo system has been great concern of scholars at home and abroad.In view of the nonlinear characteristics of PMSM, many scholars have put forward a series of nonlinear control methods, and many methods have been applied in practice. In recent years, the control of Hamilton(PCHD) system based on the energy shaping of port has attracted the attention of scholars both at home and abroad. In this paper, the PCHD control method of L2 and the PMSM disturbance rejection method are given.For the control of PMSM position servo system, when the state error PCH method, torque disturbance increased the steady-state error of the system, this paper has put forward a strategy that join L2 gain to weaken the disturbance. First, the state error PCH method is used to get the controller, and the stability analysis is given, and the method of adding L2 gain in the presence of disturbances is presented. Finally, the obtained controller is simulated on the Matlab/Simulink simulation platform, and it can be seen that the system has a good ability to restrain the disturbance.For the weak magnetic expansion of PMSM, this paper introduces the principle of flux weakening. The equilibrium point is obtained by subsection, which is based on the principle of MTPA below the base speed, and the method of weak magnetic field is adopted above the base speed. First of all, in which the torque is constant and known and no disturbance torque calculating the PCH controller of the power system and a stability analysis is given; secondly, when the presence of disturbance torque, controller is obtained by using the method of state PCH and L2 gain; system torque are unknown, the method combining torque observer and state PCH controller of the system are obtained, and analyzes the stability of the system. And the system controller is simulated on the Matlab/Simulink simulation platform, it can be seen that the system has a good effect of expanding speed, and has a certain ability to restrain the disturbance.