Passivity-Based Control of PMSM Servo System With Load Torque Adaptation: Theoretical and Experimental Validation

A passivity-based control (PBC) technique is proposed to overcome the speed tracking issue of the permanent magnet synchronous motors (PMSM). This approach offers a notable benefit by accomplishing multiple objectives concurrently, such as trajectory tracking, compensating for disturbances in a damped manner instead of rejecting them, and ensuring robustness. This article focuses on investigating a speed tracking control issue in the context of the PMSM system, specifically considering nonlinear load torque disturbances and parameter variations. A torque control method based on passivity principles, coupled with load torque adaptation, is proposed. In order to assess the efficiency of the passivity-based torque controller, a comprehensive evaluation was undertaken, encompassing both simulation and experimental investigations on the PMSM. The obtained results not only highlight its competence in attaining precise torque control and ensuring stable motor operation but also provide additional validation of its capability to manage fluctuations in load torque.