Robust current control of PMSM based on PCH and disturbance observer

A new robust current control method of permanent magnet synchronous motor (PMSM) based on Port-controlled Hamiltonian (PCH) theory and disturbance observer is proposed in this paper. Firstly, the electromagnetic subsystem of PMSM is expressed as the PCH form. Then, the current tracking control is realized using the energy-shaping method of interconnection and damping assignment, and the stability in the equilibrium is proved. In addition, according to the parameter perturbation of the PMSM, a disturbance observer is designed to estimate the disturbance, which is used to the feedforward compensation control of the current loop. The simulation results show that the proposed control method has good current tracking performance and robustness.