基于统一PCHD 建模的永磁同步电机无源控制

针对表面式永磁同步电机( SPMSM) 驱动系统的非线性特点，着眼于调速系统的高性能要求，基于互联和阻尼配置的能量成形方法和端口受控耗散哈密顿( PCHD) 系统原理，研究了SPMSM 系统的统一PCHD 建模和速度控制问题。首先，从能量平衡的观点，建立了逆变器、考虑铁损的SPMSM、机械负载一体的不确定系统统一PCHD 数学模型，然后在此基础上，设计了SPMSM 驱动系统的无源控制器，逆变器非线性扰动由扩张状态观测器进行补偿，最后利用自抗扰控制设计了速度调节器得到q 轴期望的电流，所得控制器更加简单和容易实现。仿真结果表明，所提方法实现了全局稳定性控制、鲁棒性强; 调速系统具有优良的动、静态性能。

Passivity-Based Control for SPMSM Based on Unified PCHD Modeling

In view of the nonlinear characteristics of the SPMSM drive system，the unified PCHD modeling and speed control of PMSMis presented based on the interconnection and damping assignment of energy-shaping method and port-controlled Hamiltonian systemswith dissipation( PCHD) theory，to obtain high performance of the speed control system． First，from an energy-balancing point of view，uncertain system unified PCHD modeling is established including the inverter，SPMSM with iron losses and mechanical load． And then，the passive controller of the SPMSM drive system is designed，and the nonlinear disturbance caused by the inverter is compensated usingthe extended state observer． Finally，speed regulator is designed by using ADRC in order to get the desired q axis current，both the designand the implementation of the controller becomes simpler and easier． The simulation results show that the proposed method can ensureglobal stability，strong robustness． The system achieves a satisfactory dynamic and static performance．