부산대학교 도서관

This paper introduces a novel passive controller for certain SPMSM servo system, which using improved particle swarm optimization fuzzy active disturbance rejection technique. In order to achieve global asymptotical stability of the control system, the hamiltonian model of surface permanent magnet synchronous motor is built by using the methodology of energy shaping and passive control. For the sake of improving the excellent robustness and perfect dynamic performance of traditional active disturbance rejection controller, the proportional coefficients of nonlinear state error feedback control law are timely adjusted by using fuzzy logic controller. Furthermore, to guarantee fastness and global optimal of the control system, a modified particle swarm optimization algorithm is designed to online choose the five optimal parameters of fuzzy logic controller. Compared with the other two controllers, the effectiveness, feasibility and superiority of this proposed controller is confirmed through the simulation experiments.