中文摘要：

针对功率变换器和永磁同步电机（PMSM）构成的传动系统，基于能量成形和端口受控哈密顿（PCH）系统理论，研究其速度控制问题。建立了PMSM的PCH非线性数学模型，在负载转矩恒定已知和恒定未知情况下，设计了系统的速度控制器。根据最大转矩／电流（MTPA）控制原理确定了系统的期望平衡点，分析了平衡点的稳定性。利用PWM信号变换方法控制功率变换器各开关器件的导通占空比，实现隐极PMSM的速度调节。利用Matlab／Simulink仿真，结果表明，系统具有很好的负载扰动抑制能力和转速跟踪性能。

英文摘要：

For the drive system incorporated with power converter and PMSM （permanent magnet synchronous motor）, speed control is studied based on energy shaping and PCH （port-controlled Hamiltonian） system theory. The PCH nonlinear mathematical model of PMSM is established. The controller is designed when the load torque is known or unknown. The desired equilibrium point of the system is obtained based on maximum torque per ampere （MTPA） control rule. The stability of equilibrium point is also ana- lyzed. Using PWM signal transformation method, speed regulation of non-salient pole PMSM is implemented by controlling the duty ratio of every converter switch. The simulation model is established through Matlab/Simulink. The simulation results show good attenuation performance of load disturbances and good speed tracking performance of the system.