Interconnection and Damping Assignment approach for reliable PM synchronous motor control

The goal of this paper is to design a high performance speed controller for a PMSM drive. The controller is passivity based using the energy shaping technique namely Interconnection and Damping Assignment. Under some assumptions, a linear controller is derived associated to a non linear observer to estimate the load torque which is unknown. The important point developed in this paper is the proof of the global stability, which is mandatory in a drive especially in embedded or transportation applications where reliability is a key issue. Simulation and experimental results prove the feasibility of the approach.

[1]  Arjan van der Schaft,et al.  Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems , 2002, Autom..

[2]  Bojan Grcar,et al.  Nonlinear control of synchronous servo drive , 1994, IEEE Trans. Control. Syst. Technol..

[3]  J. J. Carroll,et al.  Integrator backstepping techniques for the tracking control of permanent magnet brush DC motors , 1993, Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting.

[4]  Romeo Ortega,et al.  Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples , 2007 .

[5]  Romeo Ortega,et al.  Passivity-based Control of Euler-Lagrange Systems , 1998 .

[6]  Xu Dianguo,et al.  A compact state observer of PMSM servo system , 2002, IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02.

[7]  R. Ortega,et al.  Energy-shaping of port-controlled Hamiltonian systems by interconnection , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[8]  E. Panteley,et al.  On global uniform asymptotic stability of nonlinear time-varying systems in cascade , 1998 .

[9]  Romeo Ortega,et al.  Interconnection and damping assignment approach to control of PM synchronous motors , 2001, IEEE Trans. Control. Syst. Technol..

[10]  Romeo Ortega,et al.  Interconnection and Damping Assignment Passivity-Based Control: A Survey , 2004, Eur. J. Control.