Current adaptive sliding mode control based on disturbance observer for permanent magnet synchronous motor

In this paper, a disturbance observer-based complementary fractional-order sliding mode control (CFOSMC) scheme is proposed for the permanent magnet synchronous motor (PMSM) drive system. First, to reconstruct the load disturbance and parameter variations, a nonlinear disturbance observer is designed. Next, a disturbance observer-based fractional-order sliding mode with a saturation function control law is designed to reduce the chattering problem in the existing fractional-order sliding mode control (FOSMC) method. Furthermore, to reduce the thickness of the boundary layer, a CFOSMC scheme is designed. By using the fractional-order Lyapunov stability theorem, the existence condition and the chattering problem are analyzed. Compared with the existing FOSMC, the obtained CFOSMC law does not contain any high-order derivatives of tracking error, which is easier to implement. Finally, the numerical simulations and experimental results are provided to show the superiority of the proposed method. To improve the performance of the permanent magnet synchronous motor (PMSM) drive system in terms of tracking rapidity, accuracy, and robustness, a complementary fractional-order sliding mode control (CFOSMC) scheme with disturbance observer is proposed in this paper.

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Adaptive sliding mode control for chain driving system with disturbance observer

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651819895693 ◽

2020 ◽

Vol 234 (9) ◽

pp. 1050-1059 ◽

Cited By ~ 3

Author(s):

Quan Zou

Keyword(s):

Sliding Mode Control ◽

Disturbance Observer ◽

Sliding Mode ◽

Permanent Magnet Synchronous Motor ◽

Parameter Variation ◽

Adaptive Sliding Mode Control ◽

Control Performance ◽

Driving System ◽

Adaptive Sliding Mode ◽

Mode Control

The design and implementation of adaptive sliding mode control with disturbance observer for chain driving system driven by permanent magnet synchronous motor with parameter variation, meshing impact and large friction are addressed in this study. First, an adaptive model compensation control law is designed for perfect position tracking, while a nonlinear disturbance observer is investigated to estimate the normalized disturbance, which is fast changing due to the severe polygon effect, the meshing impact and so on. To further improve the robustness and the control performance, the translation-width idea is embedded into the adaptive sliding mode control with disturbance observer system, which can suppress the chattering phenomenon caused by imperfect switching in traditional sliding mode control. Moreover, the translation width is online updated using an adaptive mechanism, which is delivered in the Lyapunov sense. Thus, the stability of the closed-loop system is guaranteed in the Lyapunov stability theorem sense. Experimental results show that the proposed adaptive sliding mode control with disturbance observer scheme is insensitive to parameter variation, meshing impact, large friction and so on, and has a better control performance compared with the traditional adaptive sliding mode control and the disturbance observer–based sliding mode control.

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