Özet:
Permanent Magnet Synchronous Motor (PMSM) is used increasingly in a
wide range of industrial applications due to its advantageous features such as high
efficiency, high torque to inertia ratio, low noise, and robustness. An accurate
knowledge of motor parameters is essential in order to achieve a better performance.
In this study, the problem of speed tracking of the PMSM motor considering
uncertain speed is addressed. The model structure of the PMSM motor with uncertain
speed is formulated in the structure of port-controlled Hamiltonian system in
discrete-time setting. An adaptive discrete-time interconnection and damping
assignment passivity based controller (IDA-PBC) for the uncertain PMSM motor is
proposed. Besides, discrete-time immersion and invariance (I&I) based estimator is
designed to estimate the uncertain motor speed. This estimated speed is used in the
IDA-PBC controller to provide an automatic tuning for the motor speed. The
asymptotic stability of the estimator is achieved based on Lyapunov theory. The
proposed adaptive controller is applied to the PMSM motor where the controller
performance is tested by Matlab/Simulink. The proposed I&I based estimation
method is compared to the estimation method of Extended Kalman Filter (EKF).
Simulation results show the productivity and effectiveness of the proposed method
