Abstract
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.