关键词:  表面式永磁同步电机, 无源控制, 自抗扰控制, 扩张状态观测器

Abstract:

In view of the nonlinear characteristics of the SPMSM drive system，the unified PCHD modeling and speed control of PMSM
is presented based on the interconnection and damping assignment of energy-shaping method and port-controlled Hamiltonian systems
with 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 using
the extended state observer． Finally，speed regulator is designed by using ADRC in order to get the desired q axis current，both the design
and the implementation of the controller becomes simpler and easier． The simulation results show that the proposed method can ensure
global stability，strong robustness． The system achieves a satisfactory dynamic and static performance．

Key words: SPMSM, passivity-based control, active disturbance rejection control( ADRC) , extended state observer