A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems

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.

Keywords

Permanent magnet synchronous motor (PMSM) / Sliding mode controller / Extended state observer / Robust control / Motion control

RIGHTS & PERMISSIONS

2020 Zhejiang University and Springer-Verlag GmbH Germany, part of Springer Nature