Abstract
To improve the suppression ability of uncertain disturbance of the sliding mode control driving system of the surface-mounted permanent magnet synchronous motor (SPMSM) and to reduce the chattering of the control output, a robust sliding mode control strategy with an improved power reaching law (IPRL) is proposed in this paper. Compared with the traditional fast power reaching law (FPRL), the IPRL incorporates the sum of the power terms of the system state variables into the conventional power terms, and uses hyperbolic tangent saturation function to replace the piecewise function, which can effectively suppress the sliding mode chattering and improve the convergence speed of the system state to the sliding mode surface. Furthermore, the robust sliding mode speed controller and sliding mode current controller of the SPMSM are designed separately with the IPRL, and detailed simulation verification is carried out to reveal the effectiveness of the IPRL. Simulation and experimental results show that compared with the FPRL, the proposed IPRL can reduce the inherent chattering phenomenon in sliding mode control, and the IPRL-based speed and current control strategy can effectively improve the dynamic performance and robustness of the system.
Highlights
The exciting field of the permanent magnet synchronous motor (PMSM) is provided by permanent magnets, resulting in a simple structure, high power density, high efficiency, and low maintenance cost; the PMSM has been widely adopted as the drive motor of electric vehicles and hybrid electric vehicles [1–3]
The model parameters of the PMSM are changing during operation, causing the motor speed to deviate from the reference value
This paper presented a robust sliding mode control of the PMSM with an improved power reaching law
Summary
The exciting field of the permanent magnet synchronous motor (PMSM) is provided by permanent magnets, resulting in a simple structure, high power density, high efficiency, and low maintenance cost; the PMSM has been widely adopted as the drive motor of electric vehicles and hybrid electric vehicles [1–3]. An adaptive terminal sliding mode reaching law was proposed in [18], which dynamically adopts the finite time convergence, and reduces the chattering in of the control system and improves the convergence rate. An SMC with an improved power reaching law (IPRL) is proposed, and it is embedded in the speed loop and the current loop of the field-oriented control (FOC). System of the PMSM to improve the control performance, such as obtaining the reference dand q-axis current and voltage accurately, reducing torque ripple, and improving the speed dynamic response. An improved power reaching law with hyperbolic tangent saturation function and the PMSM system state variable is developed, and it can boost the sliding mode reaching speed while keeping the chattering within a certain range.
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