Trajectory Tracking via Interconnection and Damping Assignment Passivity-Based Control for a Permanent Magnet Synchronous Motor

Authors

Daniel Sting Martinez-Padron, San Jose de la Rosa-Mendoza, Ricardo Alvarez-Salas, Gerardo Espinosa-Perez, Mario Arturo Gonzalez-Garcia

Abstract

This paper presents a controller design to track speed, position, and torque trajectories for a permanent magnet synchronous motor (PMSM). This scheme is based on the interconnection and damping assignment passivity-based control (IDA-PBC) technique recently proposed to solve the tracking control problem for mechanical underactuated systems. The proposed approach regulates the dynamics of the tracking system error at the origin, assuming the realizable trajectories preserve the motor’s port-controlled Hamiltonian structure. The importance of the contribution is two-fold: First, from the theoretical perspective, the trajectory tracking control problem is solved with proved stability properties, a topic that has not been deeply studied with the IDA-PBC methodology design. Second, from the practical point of view, the proposed control scheme exhibits a simple structure for practical implementation and strong robustness properties with respect to parametric uncertainties. The contribution is evaluated under both numerical and experimental environments considering a speed profile that demands the achievement of high dynamic performances.

Citation

• Journal: Applied Sciences
• Year: 2024
• Volume: 14
• Issue: 17
• Pages: 7977
• Publisher: MDPI AG
• DOI: 10.3390/app14177977

BibTeX

@article{Martinez_Padron_2024,
  title={{Trajectory Tracking via Interconnection and Damping Assignment Passivity-Based Control for a Permanent Magnet Synchronous Motor}},
  volume={14},
  ISSN={2076-3417},
  DOI={10.3390/app14177977},
  number={17},
  journal={Applied Sciences},
  publisher={MDPI AG},
  author={Martinez-Padron, Daniel Sting and de la Rosa-Mendoza, San Jose and Alvarez-Salas, Ricardo and Espinosa-Perez, Gerardo and Gonzalez-Garcia, Mario Arturo},
  year={2024},
  pages={7977}
}

Download the bib file

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