Position tracking control of PMSM based on state error PCH and MTPA principle

The energy-shaping and maximum torque per ampere (MTPA) principle are used to develop the modeling and position tracking control of permanent magnet synchronous motor (PMSM) in this paper. Firstly, based on the port-controlled Hamiltonian (PCH) systems theory, a PCH position tracking control model of PMSM is established. Secondly, using closed-loop state error PCH control and MTPA method, the control strategy of PMSM is presented when load torque is known and unknown. The control problem of the PMSM is reduced to the solution of a partial differential equation. The partial differential equation can be transformed into a set of general differential equation by assigning desired interconnection and damping matrix. Finally, the equilibrium stability is also analyzed. The simulation results show that the proposed scheme exhibits good position tracking control and load torque disturbances attenuation performances.