Finite-Time Extended State Observer-Based Super-Twisting Sliding Mode Controller for PMSM Drives With Inertia Identification

Abstract

This article designs a novel finite-time extended state observer (FTESO)-based super-twisting sliding mode (STSM) control scheme to promote the anti-disturbance property and tracking performance of permanent magnet synchronous motor (PMSM). First, a FTESO combined with generalized super-twisting technique is constructed to estimate the unknown lumped disturbance and compensate the estimated value to the STSM speed controller. Compared with the conventional extended state observer (ESO), the proposed FTESO can make the estimation error converge to the origin in finite time, which provides a faster convergence speed and higher estimation accuracy. Moreover, to tackle the problem of performance deterioration caused by inertia mismatch, particularly for PMSM speed control, an inertia identification method is employed to calculate the true value of inertia online to tune the parameters of FTESO and STSM controller automatically. Comprehensive simulation and experimental results demonstrate that the proposed control method can improve the robustness of PMSM system in the presence of load torque and inertia variations.