New Reaching Law Control for Permanent Magnet Synchronous Motor With Extended Disturbance Observer

• Published in: IEEE access Vol. 7; pp. 186296 - 186307
• Main Authors: Wang, Yaoqiang, Feng, Yutao, Zhang, Xiaoguang, Liang, Jun, Cheng, Xian
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: anti-disturbance sliding-mode speed controller (ADSMSC); Controllers; Disturbance observers; extended sliding-mode disturbance observer; Feedforward control; new reaching law; Permanent magnet motors; Permanent magnet synchronous motor (PMSM); Permanent magnets; Robustness; Servocontrol; Servomechanisms; Servomotors; Sliding mode control; State variable; Surface treatment; Switches; Switching; Synchronous motors
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2019.2956846

In order to improve the anti-disturbance performance of permanent magnet synchronous motor (PMSM) servo system, a sliding-mode control strategy using a new reaching law (NRL) is proposed. The NRL incorporates power term and switching gain term of the system state variables into the conventional exponential reaching law (CERL), which can effectively suppress the sliding-mode chattering and increase the convergence rate of system state reaching sliding-mode surface. Based on this new reaching law, a sliding-mode speed controller (SMSC) of PMSM is designed. At the same time, to solve the chattering problem caused by the large sliding-mode switching gain, an anti-disturbance sliding-mode speed controller method with an extended sliding-mode disturbance observer (ESMDO), called SMSC+ESMDO method, is developed. The sliding-mode disturbance observer is designed to accurately estimate the motor speed and external load disturbances, and the disturbance estimator is used as a feed-forward to compensate the sliding-mode speed controller (SMSC) to improve the system robustness and reduce the system chattering. Simulation and experimental results show that the proposed compound sliding-mode control strategy can effectively improve the dynamic performance and robustness of the system compared with the PI controller.