Extended State Observer-Based Sliding Mode Control with New Reaching Law for PMSM Speed Control

Junzhang Qian,Wenli Ma,Ai Xiong

doi:10.1155/2016/6058981

Abstract

In order to improve the performance of external disturbance rejection of permanent magnet synchronous motor (PMSM) in speed control, sliding mode control with extended state observer is adopted in this paper. First, an exponential function-based sliding mode reaching law (ESMRL) is developed. The ESMRL can dynamically adapt to the variations of the controlled system, which decrease the reaching time in reaching stage and void chattering in sliding motion stage while maintaining high tracking accuracy of the servo system. Then, an extended state observer (ESO) is introduced to the controller to simultaneously estimate external disturbance and compensate the uncertainties. Simulation results demonstrate that the proposed method has better suppression of chattering effect and disturbance rejection ability while ensuring dynamic performance.

Highlights

Permanent magnet synchronous motor (PMSM) has many excellent features such as high efficiency, low noise, high power density, and friendly maintenance [1]
Simulations are implemented to verify the performance of extended state observer (ESO) in the estimation of disturbance and to demonstrate the tracking performance based on exponential function-based sliding mode reaching law (ESMRL) + ESO strategy
It is obvious that the performance of the ESMRL + ESO control strategy is much better than traditional SMC controller and PI controller, with smaller rising time and settling time

Summary

Introduction

Permanent magnet synchronous motor (PMSM) has many excellent features such as high efficiency, low noise, high power density, and friendly maintenance [1]. Due to these advantages, PMSM has been widely used in the industry such as aviation, vehicles, robotics, and power converters [2]. High performance servo system requires no overshoot, fast transient response, and no steady-state error and is robust to the change of parameters and disturbance. Conventional control method such as PI control scheme has been widely used for its simple structure and easy implementation. In case of parameter variations and unavoidable external disturbances, it is difficult to achieve satisfactory performance with PI control algorithm [3]

Methods

Results

Conclusion