Passivity-based adaptive sliding-mode speed control for IPMSM drive systems

A passivity-based adaptive sliding-mode control is proposed for speed tracking of interior permanent magnet synchronous motor drive systems. Firstly, a nonlinear model of the IPMSM is given with uncertainties embeded. Through adaptive feedback passivation design, the closed-loop system is shown to be feedback equivalent to a strictly passive system with a designated input. The unknown system parameters are dealt with by designed adaptation laws in parallel with the design of the controller. Maximum torque per ampere condition is met through the design of d- and q-axis currents, which serve as the inputs to the motor. Asymptotic stability of closed loop system is proven by passivity theorem and Barbalat´s lemma. Simulation results show good speed tracking response and good performance.