Adaptive sliding mode control based on a combined state/disturbance observer for the disturbance rejection control of PM
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ORIGINAL PAPER
Adaptive sliding mode control based on a combined state/disturbance observer for the disturbance rejection control of PMSM Yang Ge1 · Lihui Yang1
· Xikui Ma1
Received: 15 April 2019 / Accepted: 11 April 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract An improved adaptive sliding mode controller (ASMC) based on a combined state/disturbance observer (CSO) is proposed for the high-performance control of permanent magnet synchronous motor (PMSM). In order to estimate the unknown state and the disturbance including the parameter uncertainty and the external disturbance, the CSO is proposed. Different from the extended state observer (ESO) or generalized ESO (GESO), the CSO uses the linear combination of the extended high-order states to construct the new estimation. The CSO resolves the contradiction between the estimation accuracy and the noise insensitivity, so it is more applicable to time-varying disturbances. Then, the CSO and the ASMC are integrated in the PMSM speed controller by the feed-forward compensation to enhance the system robustness. A simple nonlinear adaptive law is presented to solve the unknown upper bound of the estimation error and minimize the chattering. The theoretical analysis shows that the global stability of the closed-loop system is strictly guaranteed. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed control method. Keywords Permanent magnet synchronous motor · Sliding mode control · State/disturbance observer · Adaptive law · Disturbance rejection control
1 Introduction Permanent magnet synchronous motor (PMSM) has been widely used in high-performance motion control due to the advantages, such as high power density, high efficiency, and low inertia [1–3]. PMSM is one of the systems with strong nonlinearity, uncertain parameters and disturbances. The classical linear control methods, for example, PI scheme, cannot quickly and effectively reject the uncertain and time-varying disturbances, which will degrade the control performance. In order to meet the requirements of highperformance control for PMSM, many nonlinear control methods, such as adaptive control [4–6], sliding mode control (SMC) [7], observer-based control [8], and intelligent control [9, 10], have been studied in recent years. Because of the insensitivity to the uncertainties and the implementation simplicity [11–17], SMC is regarded as an
B 1
Lihui Yang [email protected] The State Key Laboratory of Electrical Insulation and Power Equipment, School of Electrical Engineering, Xi’an Jiaotong University, Xi’an 710049, People’s Republic of China
efficient control method for PMSM speed servo system. In spite of the good robustness, the main drawback of SMC is the well-known chattering which is originated by the switching control. The high-order SMC can effectively reduce the chattering [18–20]. But the upper bound of sliding function derivative is required in parameter design, which brings difficulties in implementation
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