Several advantages are provided by the permanent magnet synchronous motor (PMSM) over DC motors and is gradually replacing them in industry. The dynamics of the PMSM can be described by time-varying non-linear equations considering unknown external disturbances (load). However, the control task is complicated due to the associated constraints. Non-linear controls are required to correct for non-linearities, external disturbances, and parametric fluctuations. This paper investigates a new robust interconnection and damping assignment passivity-based control (IDA-PBC) paired with a non-linear observer technique and the dq-frame model of the PMSM. The IDA-PBC method has the advantage of not canceling non-linear features but compensating them in a damped manner. The proposed IDA-PBC is in charge of creating the system’s desired dynamic, while the nonlinear observer is in charge of reconstructing the measured signals in order to force the PMSM to track speed. The main contribution of this paper is to synthesize the controller while taking into account the PMSM’s entire dynamic and making the system passive. It is achieved by rearranging the energy of the proposed IDA-PBC and inserting a damping factor that compensates the non-linear terms in a damped rather than canceled manner, so establishing a duality concept between the observer and the IDA-PBC. IDA-PBC can be computed in three ways: parametrically, nonparametrically, and algebraically. To control the PMSM’s speed, the parameterized IDA-PBC approach is employed. In general, the presented candidate outperforms the conventional IDA-PBC in terms of resilience, speed of convergence, efficiency, and high robustness. The efficiency of the proposed technique is investigated numerically using MATLAB/Simulink software.

中文翻译：

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使用高阶滑模方法和非线性观测器对永磁同步电机进行鲁棒互连和阻尼分配基于能量的控制

与直流电机相比，永磁同步电机 (PMSM) 具有多种优势，并在工业中逐渐取代直流电机。考虑到未知的外部干扰（负载），PMSM 的动态特性可以通过时变非线性方程来描述。然而，由于相关的限制，控制任务变得复杂。需要非线性控制来校正非线性、外部干扰和参数波动。本文研究了一种新型鲁棒互连和阻尼分配无源控制 (IDA-PBC)，该控制与非线性观测器技术和 PMSM 的 dq 框架模型相结合。 IDA-PBC方法的优点是不消除非线性特征，而是以阻尼方式对其进行补偿。所提出的 IDA-PBC 负责创建系统所需的动态，而非线性观测器负责重建测量信号以迫使 PMSM 跟踪速度。本文的主要贡献是在综合考虑PMSM整体动态性的同时使系统成为无源的控制器。它是通过重新排列所提出的 IDA-PBC 的能量并插入阻尼因子来实现的，该阻尼因子以阻尼而不是取消的方式补偿非线性项，从而在观察者和 IDA-PBC 之间建立对偶概念。 IDA-PBC 可以通过三种方式计算：参数方式、非参数方式和代数方式。为了控制 PMSM 的速度，采用了参数化 IDA-PBC 方法。总的来说，所提出的候选方案在弹性、收敛速度、效率和高鲁棒性方面优于传统的 IDA-PBC。使用 MATLAB/Simulink 软件对所提出技术的效率进行了数值研究。