The permanent magnet synchronous motor (PMSM) has several advantages over the DC motor and is gradually replacing it in the industry. The dynamics of the PMSM are described by non-linear equations; it is sensitive to unknown external disturbances (load), and its characteristics vary over time. All of these restrictions complicate the control task. Non-linear controls are required to adjust for non-linearities and the drawbacks mentioned above. This paper investigates an interconnection and damping assignment (IDA) passivity-based control (PBC) combined with a non-linear observer approach for the PMSM using the model represented in the dq-frame. The IDA-PBC approach has the inherent benefit of not canceling non-linear features but compensating them in a damped manner. The suggested PBC is in charge of creating the intended dynamic of the system, while the non-linear observer is in charge of reconstructing the recorded signals in order to compel the PMSM to track speed. The primary objective of this study is to synthesize the controller while accounting for the whole dynamic of the PMSM and making the system passive. It is performed by restructuring the energy of the proposed strategy and introducing a damping component that addresses the non-linear elements in a damped instead of deleted way, so providing a duality concept between both the IDA-PBC and the observer There are three methods for computing IDA-PBC: parametric, nonparametric, and algebraic. The parameterized IDA-PBC method is used to control the speed of the PMSM. This method uses the energy function in parameterized closed-loop in terms of some functions depending on the system’s state vector, such that the energy formation step is satisfied. Then, the original port-controlled Hamiltonian (PCH) dynamics in open-loop (OL) are equalized with the desired one in closed-loop (CL). The equalization process allows obtaining a set of solutions of the partial differential equations. The latter must be solved in terms of the parameters of the energy function of the closed-loop. Finally, the stability properties are studied using the Lyapunov theory. Generally, the proposed candidate offers high robustness, fast speed convergence, and high efficiency over the conventional benchmark strategies. The effectiveness of the proposed strategy is performed under extensive numerical investigation with MATLAB/Simulink software.

中文翻译：

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用于永磁同步电机效率最大化的基于无源性的非线性观测器互连和阻尼分配控制

永磁同步电机（PMSM）相对于直流电机具有多种优势，正在行业中逐步取代直流电机。 PMSM 的动力学由非线性方程描述；它对未知的外部干扰（负载）很敏感，并且其特性随时间而变化。所有这些限制使控制任务变得复杂。需要非线性控制来调整非线性和上述缺点。本文使用 dq 框架中表示的模型，研究了基于互连和阻尼分配 (IDA) 的无源控制 (PBC) 以及 PMSM 的非线性观测器方法。 IDA-PBC 方法的固有优点是不消除非线性特征，而是以阻尼方式对其进行补偿。建议的 PBC 负责创建系统的预期动态，而非线性观测器负责重建记录的信号，以迫使 PMSM 跟踪速度。本研究的主要目标是综合控制器，同时考虑 PMSM 的整体动态并使系统无源。它是通过重构所提出策略的能量并引入阻尼组件来执行的，该阻尼组件以阻尼而不是删除的方式解决非线性元素，因此在 IDA-PBC 和观察者之间提供了对偶概念。有三种方法计算 IDA-PBC：参数、非参数和代数。采用参数化IDA-PBC方法来控制PMSM的速度。该方法根据系统状态向量的某些函数，使用参数化闭环中的能量函数，从而满足能量形成步骤。然后，开环 (OL) 中的原始端口控制哈密顿 (PCH) 动力学与闭环 (CL) 中所需的动力学相等。均衡过程允许获得偏微分方程的一组解。后者必须根据闭环能量函数的参数来求解。最后，利用李雅普诺夫理论研究了稳定性特性。一般来说，与传统的基准策略相比，所提出的候选策略具有高鲁棒性、快速收敛和高效率。该策略的有效性通过 MATLAB/Simulink 软件的广泛数值研究得到验证。