Abstract
In order to improve the speed tracking control performance of Permanent magnet synchronous motors (PMSM) with uncertainties and disturbances, an uncertainty and disturbance estimator (UDE)-based PID-type sliding mode control (SMC) approach is proposed. The proposed controller consists of two parts, the reference model, and the UDE-based sliding mode controller. The reference signals of the actual system are generated by a reference model, whose controller is designed by using a nonsingular terminal sliding mode control (NTSMC), and then employed in the UDE-based controller design. The UDE is used to estimate the uncertainties and disturbances of the system, and an UDE-based SMC algorithm is then developed. It can be proved that the resulting closed-loop system is ultimately bounded. Finally, simulation results are given to illustrate that the proposed control scheme achieves good dynamic performance and strong robustness.
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