Implementation of integral fixed-time sliding mode controller for speed regulation of PMSM servo system
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ORIGINAL PAPER
Implementation of integral fixed-time sliding mode controller for speed regulation of PMSM servo system Linan Wang · Haibo Du Di Wu · Wenwu Zhu
· Weijian Zhang ·
Received: 29 May 2020 / Accepted: 1 September 2020 © Springer Nature B.V. 2020
Abstract Aiming at the control problem for the speed regulation system of permanent magnet synchronous motor (PMSM), an integral fixed-time sliding mode control algorithm with the disturbance estimation compensation is designed to improve PMSM system’s disturbance rejection ability in this paper. First of all, the integral fixed-time sliding mode surface is selected according to the error dynamical equation. Then an integral fixed-time sliding mode control algorithm is proposed and rigorous analysis method of the Lyapunov function is provided to demonstrate the speed tracking error will converge to zero in a fixed time. Besides, considering the effect of disturbance load torque, an integral fixed-time sliding mode control algorithm with disturbance estimation compensation is proposed. Through disturbance feedforward compensation, the integral fixed-time sliding mode control law can offer a better dynamical performance with smaller value for the speed chattering. Finally, comparison results of numerical experiments are provided to verify the effectiveness and superiority of the integral fixed-time sliding mode control method. L. Wang · H. Du (B)· W. Zhang School of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, Anhui, People’s Republic of China e-mail: [email protected] D. Wu · W. Zhu School of Automation, Southeast University, Nanjing 210096, Jiangsu, People’s Republic of China
Keywords Permanent magnet synchronous motor · Speed regulation · Integral fixed-time sliding mode control · Disturbance estimation compensation
1 Introduction Permanent magnet synchronous motor (PMSM) has gained widespread attention in industrial applications due to its simple structure, high air gap flux density, high torque inertia ratio and high efficiency [1,2]. Meanwhile, the application of PMSM has been gradually promoted in various occasions, such as in aviation, aerospace, CNC machine tools, robots, etc [3]. Furthermore, the PMSM is a typical nonlinear multivariable, coupled system and the control performance of the system is easily affected by unknown load, friction and other nonlinear factors. How to improve the control performance of PMSM system, has become the main problem of today’s research [4,5]. With the purpose of improving the control performance, many nonlinear control methods have been employed to control PMSM system, such as, robust control [6,7], fuzzy control [8], active disturbance rejection control [9], disturbance observer-based control [10], backstepping control [11], etc. Under the control of these nonlinear methods, the PMSM system performance from different aspects was improved to a certain extent. The sliding mode control (SMC) is widely concerned because of its remarkable advantage of strong robustness to paramet
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