Output-Feedback Sliding Mode Control for Permanent Magnet Synchronous Motor Servo System Subject to Unmatched Disturbances

This paper aims to investigate the speed regulation problem for permanent magnet synchronous motor (PMSM) servo systems subject to unknown load torque disturbances. The proposed method utilizes sliding mode control (SMC), invariant manifold theory, and disturbance observation technique. In the PMSM servo systems, the unknown load torques will affect the control performance to a large extent, which is unmatched. In addition, compared with full-state measurement, the output-feedback framework is easy to implement and reduces the sensor costs. However, it is difficult to handle unmatched disturbance and unmeasured states simultaneously. To this end, this paper specifically combines the sliding mode control theory with the invariant manifold theory and puts forward an output-feedback disturbance rejection control method. The key idea is that the unmatched disturbance in the PMSM servo systems is transformed into matched one by taking advantage of the invariant manifold, which is different from existing results. The transformation maintains most of dynamics of the PMSM system for control design, which improves the accuracy. In addition, an extended state observer is designed to estimate the current and lumped disturbance simultaneously; then, the output-feedback SMC method is proposed by introducing the estimations. Besides, the switching gain in the proposed sliding mode controller can change with estimation errors adaptively, and the chattering reduces. Simulation results on a PMSM system validate the effectiveness of the proposed control strategy.

Finite-Time Current Tracking in Boost Converters by Using a Saturated Super-Twisting Algorithm

The power converters are widely used in several industrial applications where it is necessary to obtain from a fixed voltage another one higher or lower than the original. In this paper, we focus on the DC-DC (direct current) boost converters, where to guarantee the desired voltage, an internal current tracking loop is usually used. However, this tracking cannot be assured in the presence of unknown load changes and external perturbations when traditional controller strategies are implemented. In this paper, an advanced control strategy is proposed to ensure the current tracking using a saturated super-twisting controller on the power converter. The finite-time current tracking of a DC-DC boost converter is assured in the presence of bounded Lipschitz perturbations composed by unknown load changes and exogenous signals. The proposed approach generates a continuous bounded control signal applied to the converter by using a sigma-delta modulator Σ Δ M . The controller gains are tuned to obtain finite-time stabilization of the tracking error, while the control signal remains bounded. To illustrate the effectiveness of the proposed results, the controller is applied to a physical boost converter using the hardware implemented Σ Δ M and an STM32 Discovery development card. Besides, the controller is compared with a first-order sliding mode controller showing that for small sample times, the energy of the error signal is reduced.