This paper is mainly focusing on the problem of speed tracking control for permanent magnet synchronous motor (PMSM) drive system subject to matched and mismatched disturbance. This is achieved by a novel Port-Controlled Hamiltonian control method with nonlinear disturbance observer. Different from the traditional speed-current cascade control for PMSM, the speed-current single loop controller is designed. Firstly, the Port-Controlled Hamiltonian model of PMSM is established, then the Hamiltonian speed controller is designed by using interconnection assignment and damping assignment method. However, the standard Hamiltonian controller cannot achieve the satisfying behavior in the presence of the parameter variations and external disturbance, thus a nonlinear disturbance observer is designed to estimate the lump disturbance of the system, which is used to the feed-forward compensation control. Finally, simulation and experiment on the speed control system of PMSM are implemented. The results show that the proposed method has fast speed control performance and strong robustness for the different disturbance.
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Liu et al. (2019) studied this question.