Passivity Based Torque Control of PMSM used in electrical vehicles

This paper presents a passivity based torque control structure for a high power Permanent Magnet Synchronous Motor (PMSM) used in Electric Vehicles (EV). A comparative study is done with a parallel PI algorithm in terms of response time, settling time, stationary error and required input electrical energy to reach the desired operating point. Moreover, parameters variations are simulated in order to evaluate the performance of the Passivity Based Control (PBC) scheme. In both control structures, the angular speed loop is controlled through a parallel PI algorithm. First, the mathematical model of PMSM is obtained in terms of Euler-Lagrange (EL) formalism which is the starting point for the passivity based torque controller design. This is followed by the damping injection and the re-modeling of the closed loop energy storage function in order to achieve passivity and asymptotic stability. Finally, the desired currents are derived from the torque request provided in the outer speed control loop. The algorithms are numerically simulated in MATLAB-Simulink.