Adaptive Quick Sliding Mode Reaching Law and Disturbance Observer for Robust PMSM Control Systems

Abstract

The permanent magnet synchronous motor (PMSM) has been of interest to eco-friendly industries on account of its advantages such as high performance, efficiency, and precision control. However, perturbations due to PMSM parameter uncertainty, load torque, and external disturbance interfere with the construction of PMSM precision control systems. Therefore, a robust control system is needed to avoid unnecessary system movement caused by perturbations. In this paper, sliding mode control (SMC) is adopted to implement a robust control system for the PMSM. In order to reduce the reaching time from the initial system state to the sliding surface and the chattering phenomenon that can cause the system to malfunction, the adaptive quick sliding mode reaching law based on an exponential function and power equation is proposed. Although the SMC is robust to disturbance and parameter uncertainty, unexpected disturbances can destabilize the system. To estimate the unmatched disturbance in a short time, the second-order fast terminal sliding mode observer (SFTSMO) is proposed. The results show that the motor control system based on the proposed method has a fast convergence speed to an objective value, position tracking performance, and robustness.