中文摘要：

应用能量成形方法，将永磁同步电机控制系统看作二端口能量转换装置，建立了位置伺服控制模型，求取了满足最大输出功率原理的系统平衡点。选择了期望的哈密顿函数，配置了期望的互联和阻尼矩阵，设计了位置控制器，并针对负载转矩存在未知扰动的情形，设计了负载转矩观测器。仿真结果表明，所设计的控制系统得到令人满意的位置跟踪特性，响应快速准确，对负载转矩扰动具有很好的抑制作用。

英文摘要：

PM synchronous motor control system sing energy-shaping method. The position servo is viewed as two-port energy-transformation device by ucontrol model of PMSM system is established, and the equilibrium which satisfies the maximum output power theory is derived. The position controller is pro- posed by interconnection and damping assignment method. Also the load torque observer is designed in terms of the load torque uncertainties. The simulation results show that the servo control system proposed in this paper exhibits good position control and load torque disturbances attenuation performance.