Speed control of PMSM based on energy-shaping and PWM signal transformation principle

Speed control of salient pole permanent magnet synchronous motor (PMSM) is studied based on energy-shaping and port-controlled Hamiltonian (PCH) system theory. Firstly, the PCH speed control model of PMSM is established. Secondly, the desired equilibrium point of the system is obtained based on maximum torque per ampere (MTPA) control principle. Then the speed controllers are designed when the load torque is known and unknown, respectively. The stability of equilibrium point is also analyzed. Finally, based on pulse-width modulated (PWM) signal transformation principle, speed regulation of PMSM is implemented by controlling the duty ratio of every converter switch. The simulation results show that the system has good speed tracking and load disturbances attenuation performances.