PMSM Hamiltonian energy shaping control with parameters self-tuning PID control

Aimed at permanent magnet synchronous motor (PMSM) servo control system control requirements, based on Hamiltonian feedback dissipative control strategy, this paper proposed a PID Hamiltonian parameters self-tuning method. Basing on the view of system energy balance point, via port-controlled dissipative Hamiltonian realization, this method designed a permanent magnet synchronous motor speed controller with parameters PID self-tuning to improve the control system speed tracking performance and simplify the system design process. Comparing with fixed gain control parameters, simulation results shown that the proposed method can ensure the system asymptotically stable performance, simplify system parameter setting and improve the system´s transient response performance.