Abstract
This paper designs an adaptive sliding mode speed controller (ASMSC) that can compensate for parameter uncertainty of an interior permanent magnet synchronous motor (IPMSM) drive. Unlike the previous control systems, the proposed ASMSC guarantees a precise speed tracking capability in the presence of severe parameter variations without accurate knowledge on the motor parameter values and uncertainty bounds. In particular, the proposed adaptive switching gain tuning (ASGT) term can effectively solve the excessive input energy consumption problem due to an unnecessarily overestimated switching gain. Next, the convergence and stability analysis are proven through a Lyapunov function. The feasibility of the proposed approach is verified via experimental results using a prototype IPMSM test bed with a TI TMS320F28335 digital signal processor. In this paper, the proposed SMSC is investigated with two control terms: without an ASGT term and with an ASGT term. In addition, the conventional proportional-integral speed controller and conventional linear matrix inequalities based sliding mode speed controller are chosen for the performance comparison. Finally, the proposed ASMSC can assure more robust and faster speed performances against the parameter uncertainty under three dynamic load conditions.
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