${H_\infty}$ Robust Control of Permanent Magnet Synchronous Motor Based on PCHD

The surface permanent magnet synchronous motor (SPMSM) speed regulation system is easily affected by the inner parameter perturbation and the external load disturbance at run time. To solve this problem, the H
_∞
robust control strategy is proposed in this paper. First, given the systematic uncertainties, the H
_∞
robust current controller based on the Hamilton-Jacobi Inequality is designed to ensure the robustness of current control under the SPMSM nominal mathematical model. This model is expressed as the port-controlled Hamiltonian with the dissipation form; second, the linear matrix inequality-based H
_∞
sliding surface and the sliding control law are designed under the extended state space expression of the SPMSM motion equation. Thereby, the robust H
_∞
sliding mode speed controller is acquired, thus realizing the robustness of speed control and improving the dynamic characteristics of the system. Finally, the effectiveness and availability of the proposed control strategy are verified by the hardware-in-the-loop simulation experiment.