中文摘要：

基于能量成形和端口受控哈密顿（PCH）系统原理,针对永磁同步电机（PMSM）参数不确定性所引起的转速误差,利用自适应阻尼注入控制方法,设计了负载转矩恒定已知和未知情况下的控制器。采用最大转矩/电流（MTPA）控制原理确定系统期望平衡点,并分析其稳定性。仿真结果表明,将自适应阻尼注入控制方法应用到PMSM的PCH控制中,对参数不确定性所引起的转速误差具有很好的抑制作用,从而使系统具有较好的转速跟踪性能。

英文摘要：

Based on energy-shaping and PCH （port-controlled Hamiltonian） system theory, in view of the speed error caused by the parametric instability of PMSM （permanent magnet synchronous motor）, a novel controller is designed using the method of adaptive damping injection control when the load torque is known and unknown. The desired equilibrium of the system is obtained according to MTPA （maximum torque per ampere） control rule. The simulation results show better attenuation performances of speed tracking performances of the PCH system, which can effectively restrain the error caused by the parametric instability with the method of adaptive damping injection for PMSM.