Passivity-based control of linear switched reluctance motors with robustness consideration

A robust passivity-based control (PBC) algorithm is proposed for the position tracking system of a linear switched reluctance motor (LSRM). By using the modelling analysis of the drive system, a full-order nonlinear controlled model is first developed. Then, on the basis of the state error equation, the proposed robust PBC algorithm is derived from the view points of energy dissipation, control stability and algorithm robustness. The resultant design provides a total structural solution for the control law with the winding excitation scheme integrated into the algorithm. The proposed algorithm guarantees global stability of the whole servo system. It can also overcome the inherent nonlinear characteristics of the system and make the whole system robust to uncertainties and bounded disturbances. Both simulations and experimental implementations are carried out on the proposed LSRM drive system to investigate the performance of the proposed algorithm. The results show that the experimental and the simulation outputs match very well. The proposed algorithm is effective for the high precision position tracking of the LSRM, with high robustness to the system uncertainties and bounded disturbances.