A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchro
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Frontiers of Information Technology & Electronic Engineering www.jzus.zju.edu.cn; engineering.cae.cn; www.springerlink.com ISSN 2095-9184 (print); ISSN 2095-9230 (online) E-mail: [email protected]
A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems Jun-feng JIANG1,2, Xiao-jun ZHOU†‡1,2, Wei ZHAO3, Wei LI3, Wen-dong ZHANG4 1
State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
2
Zhejiang Province Key Laboratory of Advanced Manufacturing Technology, Zhejiang University, Hangzhou 310027, China 3
Northwest Institute of Mechanical and Electrical Engineering, Xianyang 712099, China 4
Beijing Linkstech Technology Co., Ltd, Beijing 102200, China †
E-mail: [email protected]
Received June 14, 2019; Revision accepted Oct. 9, 2019; Crosschecked July 7, 2020
Abstract: Permanent magnet synchronous motor (PMSM) has been widely used in position control applications. Its performance is not satisfactory due to internal uncertainties and external load disturbances. To enhance the control performance of PMSM systems, a new method that has fast response and good robustness is proposed in this study. First, a modified integral terminal sliding mode controller is developed, which has a fast-sliding surface and a continuous reaching law. Then, an extended state observer is applied to measure the internal and external disturbances. Therefore, the disturbances can be compensated for in a feedforward manner. Compared with other sliding mode methods, the proposed method has faster response and better robustness against system disturbances. In addition, the position tracking error can converge to zero in a finite time. Simulation and experimental results reveal that the proposed control method has fast response and good robustness, and enables high-precision control. Key words: Permanent magnet synchronous motor (PMSM); Sliding mode controller; Extended state observer; Robust control; Motion control https://doi.org/10.1631/FITEE.1900298 CLC number: TM351
1 Introduction Permanent magnet synchronous motor (PMSM) is important in high-performance servo applications (e.g., machine tools, aviation, and robots). It has advantages such as high power density, compactness, and low inertia (Zeng et al., 2002; Chen et al., 2015). Proportional-integral (PI) controller has been extensively used because of its easy implementation (Wang M et al., 2018). However, achieving satisfactory control performance of the PMSM system is unreal‡
Corresponding author ORCID: Jun-feng JIANG, https://orcid.org/0000-0001-52018753; Xiao-jun ZHOU, https://orcid.org/0000-0003-2565-1398 © Zhejiang University and Springer-Verlag GmbH Germany, part of Springer Nature 2020
istic when a PI controller is used (Wai, 2001; Yang JQ et al., 2017), because the PMSM system is nonlinear. In addition, it is affected by external load disturbances and internal parameter variations in practical applications (Yu et al., 2005; Li et al., 201
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