Design and Implementation of a Fast Sliding-Mode Speed Controller With Disturbance Compensation for SPMSM System

Abstract

To improve the reliability and robustness of the surface-mounted permanent magnet synchronous motor (SPMSM) system, a fast sliding-mode speed controller (FSMSC) combined with a nonlinear disturbance observer (NDOB) is proposed. First, the fast sliding-mode reaching law (FSMRL) is presented, which can quickly converge to the sliding-mode surface while maintaining a small chattering. Moreover, the stability of the FSMRL method is proved by the Lyapunov method. Second, an NDOB is introduced to observe the lumped disturbance of the system, which accurately estimates the disturbance and improves the robustness of the speed control system. Finally, the simulation and experimental results indicate that the proposed method can track the speed response and the change of the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$d$ </tex-math></inline-formula> – <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$q$ </tex-math></inline-formula> -axis current with good performances, such as fast convergence, small chattering, and strong robustness.