Design and implementation of double-integral sliding-mode controller for brushless direct current motor speed control

Abstract

This article presents a double-integral sliding-mode controller with an adaptive proportional–integral–derivative observer for brushless direct current motor speed controller. First, an integral sliding-mode control is designed based on the motor dynamic model and system uncertainties. Accordingly, a novel double-integral sliding-mode controller is proposed to enhance the steady-state performance by employing the double-integral sliding surface with its inherent integral control feature. In addition, the control gains of the double-integral sliding-mode controller can be online adjusted using an adaptive proportional–integral–derivative observer. Thus, the proposed double-integral sliding-mode controller possesses the merits of integral sliding-mode control, proportional–integral–derivative, and adaptive law. An experimental setup including a digital signal processor is applied to verify the brushless direct current motor control system using different control scheme. The measured results show that satisfactory acceleration/deceleration speed tracking and load disturbance speed regulation characteristics are obtained via conventional proportional–integral–derivative controller and the developed integral sliding-mode control scheme under the various testing cases. Moreover, the maximum tracking error can be further reduced more than 50% by adopting the proposed double-integral sliding-mode controller with adaptive proportional–integral–derivative observer.