Passivity Based Control of PM Axial Flux Machine with Non-sinusoidal Back-EMF Applied to Electrical Vehicles

The aim of this work is to control a permanent magnetic axial flux machine with non-sinusoidal back-emf, meant for electric vehicles, by applying a passivity based control strategy. Although, the drive is equipped with Hall Effect sensors, the performance of the system is improved by introducing a linear position observer. The control system consist in a nested current loop, designed using Passivity based control, and the outer loop is designed based on a standard linear controller. The equations of the machine are obtained using Euler-Lagrange equation in dq0 coordinates, then a damping is introduced to ensure the stability. The PI controller for outer loop is obtained by regulate the perturbation rejection and the filtering of harmonics coming from the linear observer. The control system is tested via simulation and experimentation.