Abstract

In this paper, a nonlinear disturbance observer-based (NDOB) integral sliding mode control (SMC) algorithm is proposed for speed control of permanent magnet synchronous motor (PMSM) in the presence of uncertain parameters and external time-varying load toque. Firstly, three nonlinear disturbance observers (NDOs) are constructed to estimate the lumped disturbances comprising of uncertain parameters and/or disturbances in speed loop and two current loops, respectively. Secondly, an integral sliding mode controller is developed based on the NDOs. It can be proved that the resulting closed loop system is asymptotically stable and the speed tracking error converges to zero asymptotically in theory. Finally, experiment results are given to validate the proposed control method.

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