Abstract：Due to the potential value in applications and theory, nonlinear control strategies of synchronous motors, especially passivity-based control(PBC) methods, have been a focus in the literature. The main purpose of this paper is to develop a control algorithm that forces the synchronous motor to track flux and speed trajectories with time-varying load torque. To achieve this, an adaptive PBC method is developed. The key point with this method is the identification of terms, known as workless forces, which appear in the dynamic equations of synchronous motor but do not have any effect on the energy balance equation of the closed loop. PBC combined with adaptive control scheme not only reserves the advantages of PBC such as nonexistence of singularity, but also represses the flux and speed tracking error caused by rotor resistance variation. This leads to a simple control structure and enhances the robustness of the control system. The reasonability and validity are testified by the experimental results based on dSPACE.
[1] Saatry S. Nonlinear system analysis, stability and control[M]. New York: Springer, 1999. [2] Astolfi A, Ortega R, Becherif M B. On sensorless control of a class of electrical machines[C]. Decision and Control, USA, 2002: 4312-4317. [3] Rodriguez H, Astolfi A, Ortega R. Adaptive partial state feedback stabilization of a class of electro- mechanical systems via immersion and invariance[C]. American Control Conference, 2003: 3293-3298. [4] Freddy R G, Victor M B, Chandrasekhar K, et al. Strategies for feedback linearization[M]. New York: Springer, 2003. [5] 康惠骏, 谢七月, 郑芳博. 混合励磁电机系统输入输出解耦和线性化[J]. 控制与决策, 2007, 22(5): 487-492. [6] Khorrami F, Krishnamurthy P, Melkote H. Modeling and adaptive nonlinear control of electric motors[M]. New York: Springer, 2003. [7] Kokotovic P. The joy of feedback: nonlinear and adaptive[J]. IEEE Control System Magazine, 1992, 12(1): 7-17. [8] 纪志成, 李三东, 沈艳霞. 自适应积分反步法永磁同步电机伺服控制器的设计[J]. 控制与决策, 2005, 20(3): 329-331. [9] Romeo O, Antonio L, Per J N, et al. Passivity-based control of euler-lagrange systems[M]. New York: Springer, 1998. [10] Maya O P, Espinosa P G. Observer-based IDA control of synchronous generators[C]. Decision and Control, USA, 2003: 344-349. [11] Chen H, Ji H B, Wang B, et al. Coordinated passivation techniques for the dual-excited and steam-valving control of synchronous generators[J]. Control Theory and Applications, 2006, 153(1): 69- 73. [12] Nicklasson P J, Ortega R, Espinosa P G, et al. Passivity-based control of a class of Blondel-Park transformable electric machines[J]. IEEE Transactions on Automatic Control, 1997, 42 (5): 629-647. [13] Espinosa P G, Godoy A M, Guerrero R G. Passivity- based control of synchronous generators[C]. Industrial Electronics, Portugal, 1997, SS101-SS106. [14] 陈峰, 徐文立. 基于无源性的同步电机控制器设 计[J]. 电机与控制学报, 1998, 2(4): 217-220. [15] Galaz M, Ortega R, Bazanella A. A consistent parameter estimator for excitation control of synchr- onous generators[C]. Decision and Control, USA, 2002: 142-147. [16] 马良河, 姜建国. 同步电机任意设定转速的无源性跟踪控制[J]. 电工技术学报, 2004, 19(9): 37-41. [17] Fioravanti P, Cirstea M N, Cecati C, et al. Passivity based control applied to stand alone generators[C]. Industrial Electronics, Italy, 2002: 1160-1165.
2009, Vol. 24 
