Sliding Mode Control Of Permanent Magnet Synchronous Motor Research Articles

An Improved Integral Sliding Mode Control for PMSM Drives Based on New Variable Rate Reaching Law With Adaptive Reduced-Order PI Observer

This paper focuses on speed control in a permanent-magnet synchronous motor (PMSM). To promote the speed tracking performance and anti-disturbance property of PMSM speed regulation system against various unknown disturbances, such as parameter mismatch, load torque variation, friction force, and so on, an improved integral sliding mode control (IISMC) method based on a new variable rate reaching law (NVRRL) and an adaptive reduced-order proportional integral observer (AROPIO) is proposed. The NVRRL method can reduce chattering, and convergence time of the system state at the same time compared to the existing sliding mode reaching law. An anti-windup sliding mode surface is proposed to overcome the overshoot problem of the integral sliding mode surface when the reference speed is large and rises in steps or large ramps. To further improve the system tracking accuracy and anti-disturbance ability, an AROPIO is used to estimate lumped disturbances and provides feedforward compensation for the IISMC. The simulation and experimental results show that the proposed IISMC+AROPIO method not only achieves high speed tracking accuracy and fast convergence speed but also achieves strong anti-interference ability.

Finite-Time Convergence ESO-Based Nonsingular Fast Terminal Sliding Mode Control for PMSM with Unknown Parameters and Time-Varying Load

In this paper, an extended state observer (ESO)-based nonsingular fast terminal sliding mode (NFTSM) control method is proposed for the speed tracking system of permanent magnet synchronous motor (PMSM) in the present of unknown parameters and time-varying load. Firstly, three finite time convergence ESO (FTCESO) are employed to estimate the lumped disturbances in one speed loop and two current loops, respectively, and the estimates are fed forward to controllers for compensation. Secondly, a NFTSM controller is designed, which can drive the speed of PMSM track in desired speed in finite time. The stability of resulting closed-loop system is proved by using Lyapunov theory. Finally, the simulation and experimental results are compared with the existing methods, and the results show that the proposed method has better performance in tracking different kind of desired speed curves, and also performs better in reducing the chattering phenomenon.

Model-Free Control Using Improved Smoothing Extended State Observer and Super-Twisting Nonlinear Sliding Mode Control for PMSM Drives

This paper proposes a novel model-free super-twisting nonlinear sliding mode control (MFSTNLSMC) strategy with an improved smoothing extended state observer (SESO) for permanent magnet synchronous motor (PMSM) drives. First of all, the improved SESO is introduced to estimate the unknown term of the PMSM ultra-local model. Secondly, a novel nonlinear sliding mode surface (NLSMS) is designed, which can effectively overcome the disadvantages of simple and rough signal processing of the conventional linear sliding mode surface. At the same time, a super-twisting (ST) structure is chosen to suppress the chattering phenomenon and improve system robustness. Then, the Lyapunov stability theorem is used to prove the stability of the proposed control algorithm. Finally, both comparative simulations and experimental demonstrations verify the excellent speed tracking performance and robustness of the proposed control strategy.

Model-Free Hybrid Control with Intelligent Proportional Integral and Super-Twisting Sliding Mode Control of PMSM Drives

In this research, based on the ultra-local model, a novel compound model-free control strategy with an intelligent Proportional-Integral and super-twisting Sliding Mode Control (MFiPISTSMC) strategy for permanent magnet synchronous motor (PMSM) drives is proposed. Firstly, an intelligent Proportional-Integral (iPI) control strategy is designed for motor speed regulation. Secondly, a super-twisting Sliding Mode Control (STSMC) strategy is constructed based on the ultra-local model of PMSM. At the same time, the unknown term of the ultra-local model of PMSM is estimated by a Linear Extended State Observer (LESO). The stability of the compound MFiPISTSMC strategy is proved by the Lyapunov stability theorem. As a result of the compound MFiPISTSMC strategy integrating the STSMC strategy, the iPI control strategy and the LESO is proposed to have excellent performance. Finally, the static characteristic, dynamic characteristic and robustness of the novel compound MFiPISTSMC strategy are verified by simulation and experimental results.

GPIO Based Super-Twisting Sliding Mode Control for PMSM

Aiming at optimizing the tracking accuracy of permanent magnet synchronous motor (PMSM) speed regulation system, a super-twisting sliding mode (STSM) control technique combining disturbance observer is investigated in this brief. Since simply increasing the value of the control gain to enhance the robustness of PMSM system will bring unsatisfactory dynamical performance, a generalized proportional integral observer (GPIO) is first introduced to estimate the lumped disturbance. Then, a super-twisting sliding mode (STSM) controller is adopted to combine with the feedforward compensation from the aforementioned GPIO to construct a composite controller, which implies that this composite controller can adopt a smaller switching gain and achieve better tracking precision. Simulation and experimental results are provided to illustrate the proposed control algorithm.

Load Disturbance Observer-Based Complementary Sliding Mode Control for PMSM of the Mine Traction Electric Locomotive

For the permanent magnet synchronous motor (PMSM) control system of the mine traction electric locomotive (MTEL), the fluctuation of the load will lead to the resonance of the velocity of the MTEL and result in mechanical damage. To solve this problem, a disturbance observer-based complementary sliding mode controller (DOB-CSMC) design method is proposed in this paper. A mathematical model of PMSM is first established. Then, a disturbance observer is designed to reconstruct the load disturbances. In order to realize the static and dynamic tracking performance of the PMSM system, a saturation function-based complementary sliding mode controller is designed and the reconstructed disturbance is introduced into the controller to counteract the influence of external disturbance. Finally, the simulation and experimental results show that the DOB-CSMC method has a smaller overshoot and a shorter settling time compared with the traditional SMC method.

Robust Sliding Mode Control of PMSM Based on a Rapid Nonlinear Tracking Differentiator and Disturbance Observer.

Torque ripples caused by cogging torque, flux harmonics, and current measurement error seriously restrict the application of a permanent magnet synchronous motor (PMSM), which has been paid more and more attention for the use in inertial stabilized platforms. Sliding mode control (SMC), in parallel with the classical proportional integral (PI) controller, has a high advantage to suppress the torque ripples as its invariance to disturbances. However, since the high switching gain tends to cause chattering and it requires derivative of signals which is not readily obtainable without an acceleration signal sensor. Therefore, this paper proposes a robust SMC scheme based on a rapid nonlinear tracking differentiator (NTD) and a disturbance observer (DOB) to further improve the performance of the SMC. The NTD is employed to providing the derivative of the signal, and the DOB is utilized to estimate the system lumped disturbances, including parameter variations and external disturbances. On the one hand, DOB can compensate the robust SMC speed controller, it can reduce the chattering of SMC on the other hand. Experiments were carried out on an ARM and DSP-based platform. The obtained experimental results demonstrate that the robust SMC scheme has an improved performance with inertia stability and it exhibits a satisfactory anti-disturbance performance compared to the traditional methods.

A Novel Direct Torque Control Method Based on Asymmetric Boundary Layer Sliding Mode Control for PMSM

A novel direct torque control (DTC) method based on sliding-mode-control (SMC) strategy is proposed for permanent magnet synchronous motor (PMSM) which is used in electric vehicles (EVs). In order to improve the dynamic response time and enhance the robustness performance against the external loading disturbances and motor parameter’s variation, a kind of SMC-based torque controller and speed controller are designed to regulate the torque angle increment and the speed respectively. The torque controller is designed based on a sliding mode controller with an asymmetric boundary layer to reduce the overshoot. Compared with other DTC methods based on space vector modulation (SVM) in the literature, the proposed DTC scheme adopts the asymmetric boundary layer SMC instead of the proportional-integral (PI) regulator. The simulation results have validated the effectiveness of the proposed SMC-based DTC method.

Novel Composite Sliding Mode Control for PMSM Drive System Based on Disturbance Observer

This paper introduces a sliding mode control (SMC) scheme to solve time-varying parameters and disturbances for a permanent magnet synchronous motor (PMSM) drive system. A new speed controller is designed by the nonsingular terminal sliding mode control (NTSMC) strategy with the disturbance observer (DOB). The controller can make the motor speed reach the reference value in finite time, accompanying with a faster convergence and a better tracking precision. Considering the time-varying characteristic and the high-bandwidth property of the uncertainties and disturbances in a practical PMSM drive system, the common SMC method needs to provide large gain to restrain disturbance with large chattering. A DOB is introduced as a compensator to resist disturbance and to reduce control gains. By applying a DOB as the feed-forward compensator and the NTSMC as the feedback controller, one new composite NTSMC scheme has been proposed for the speed control of PMSM under disturbances and uncertainties with small chattering since smaller switching gain are required by the proposed scheme. The validity and robustness of the scheme are fully verified by comprehensive simulations and experiments.

CMAC-Based Backstepping Sliding Mode Control of PMSM

The paper describes a hybrid approach to the problem of controlling permanent magnet synchronous motor (PMSM) with unmodelled dynamics and unknown external disturbances. First, the backstepping sliding mode (BS) controller based on the equation of PMSM is elaborated. Its effect is to achieve a stable control. Then the cerebellar model arithmetic computer (CMAC) controller is implemented to compensate uncertainties. Furthermore, the nonlinear disturbance observer (DO) is applied to estimate the time-varying lumped disturbance D(t) for improving the precision of the tracking control. The proposed CMAC-based method can acquire high control performance in the presence of disturbance and guarantee the stability of closed-loop systems on the basis of the Lyapunov theorem. The effectiveness and robustness are demonstrated through simulation results obtained for the tracking control of PMSM.