中文摘要：

永磁同步电动机（PMSM）可看作是二端口的能量变换装置.基于能量成形方法和端口受控哈密顿（PCH）系统原理,研究了永磁同步电机（PMSM）的建模与速度控制问题.从能量平衡的观点,建立了PMSM的PCH系统数学模型.利用互联和阻尼配置的能量成形方法,给出了PMSM系统的反馈镇定原理.根据最大转矩/电流（MTPA）控制原理确定了系统期望的平衡点,分析了PMSM系统平衡点的稳定性,并设计了负载转矩恒定已知情况下的控制器.针对负载转矩恒定未知的情形,研究了负载转矩的实时估计与控制器设计方法.仿真结果表明所设计的控制器具有很好的性能和应用前景.

英文摘要：

Permanent magnet synchronous motor（PMSM） is viewed as a two-port energy-transformation device. Based on energy-shaping method and port-controlled Hamiltonian（PCH） theory, the modeling and speed control of PMSM is presented. First of all, from an energy- balancing point of view, a nonlinear mathematical model of PMSM is established. Then, the control problem can be recast as finding a controller and an intercormection pattern such that the overall energy function takes the desirod form. Using the energy-shaping method of intercormection and damping assignment, the feedback stabilization theory of PMSM system is given. According to maximum torque per ampere（MTPA） control rule, the desired equilibrium of the system is obtained. Feedback stabilization controller is designed and the equilibrium stability is analyzed when the load torque is known. Finally, the methods of load torque estimation and controller design are developed when the load torque is unknown. The simulation results show that the proposed scheme has a good performance and practical use prospects.