For the purpose of shortening response time and improved anti-disturbance performance of the permanent magnet synchronous motor (PMSM) drives, a compound control method using improved non-singular fast terminal sliding mode controller (NFTSMC) and disturbance observer compensation techniques are developed. First, in order to overcome the contradiction between fast response and heavy chattering of the conventional NFTSMC, a new sliding mode reaching law (NSMRL) is proposed for the improved NFTSMC. The NSMRL, which allows chattering reduction on control output while maintaining high tracking performance of the controller, can dynamically adapt to the variations of the controlled system. Second, to further improve the anti-disturbance performance of the PMSM control system, the sliding mode disturbance observer (SMDO) is introduced to estimate the load disturbance and add to the output of the improved NFTSMC for a feed-forward compensation item. Finally, both the simulation and experimental results applied to PMSM drives show that the proposed control method has better suppression of chattering effect, fast dynamic response, and disturbance rejection ability.

Improved Non-Singular Fast Terminal Sliding Mode Control With Disturbance Observer for PMSM Drives

In this article, a novel adaptive super-twisting nonlinear Fractional-order PID sliding mode control (ASTNLFOPIDSMC) strategy using extended state observer (ESO) for the speed operation of permanent magnet synchronous motor (PMSM) is proposed. Firstly, this paper proposes a novel nonlinear Fractional-order PID (NLFOPID) sliding surface with nonlinear proportion term, nonlinear integral term and nonlinear differential term. Secondly, the novel NLFOPID switching manifold and an adaptive super-twisting reaching law (ASTRL) are applied to obtain excellent control performance in the sliding mode phase and the reaching phase, respectively. The novel ASTNLFOPIDSMC strategy is constructed by the ASTRL and the NLFOPID sliding surface. Due to the utilization of NLFOPID switching manifold, the characteristics of fast convergence, good robustness and small steady state error can be ensured in the sliding mode phase. Due to the utilization of ASTRL, the chattering phenomenon can be weakened, and the characteristics of high accuracy and strong robustness can be obtained in the reaching phase. Further, an ESO is designed to achieve dynamic feedback compensation for external disturbance. Furthermore, Lyapunov stability theorem and Fractional calculus are used to prove the stability of the system. Finally, comparison results under different controllers demonstrate that the proposed control strategy not only achieves good stability and dynamic properties, but also is robust to external disturbance.

/pdf/an-adaptive-super-twisting-nonlinear-fractional-order-pid-10raq3jdbs.pdf

An Adaptive Super Twisting Nonlinear Fractional Order PID Sliding Mode Control of Permanent Magnet Synchronous Motor Speed Regulation System Based on Extended State Observer

To overcome the limitations that active disturbance rejection control (ADRC) system of a bearingless induction motor (BIM) has difficulty in tuning parameters depending on experience to select parameters, an ADRC strategy based on improved particle swarm optimization–genetic algorithm (IPSO-GA) is proposed. Based on the orientation of the air-gap magnetic field, the first-order and the second-order ADRC are, respectively, designed for the BIM rotation and suspension parts according to the different order of the BIM system. Then, the parameters of the basic particle swarm optimization algorithm are optimized by considering the characteristics of the basic particle swarm algorithm parameters, and the crossover and mutation operations are introduced to enhance global search capability. Meanwhile, through the performance test based on the test function, the performance of IPSO-GA is verified, and the parameters of ADRC are adjusted by IPSO-GA. In addition, this strategy is analyzed with simulation in MATLAB/Simulink and verified on an experimental prototype. Both simulation and experimental results show that the proposed strategy not only effectively improves the starting performance and antidisturbance ability of the BIM but also reduces the maximum radial offset of the rotor and improves the suspension precision of the motor.

Study on Active Disturbance Rejection Control of a Bearingless Induction Motor Based on an Improved Particle Swarm Optimization–Genetic Algorithm

A novel non-singular terminal sliding mode control-based integrated missile guidance and control with impact angle constraint

In order to shorten the response time and improve robustness for a permanent magnet synchronous motor (PMSM) control system, an adaptive nonsingular terminal sliding model control (NTSMC) equipped with a disturbance observer is presented for PMSM. First, an improved exponential reaching law is adopted to adaptively adjust exponential and constant approach speed in the adaptive NTSMC. Second, the disturbance observer is devised to observe the load torque and external disturbance and feeds back them to the adaptive NTSMC to compensate. Simulation and experimental results applied to PMSM show that the proposed approach can quickly track load torque and external disturbance and the system has advantages of small overshoot, static error, rapidity, and higher robustness.

Adaptive Nonsingular Terminal Sliding Model Control for Permanent Magnet Synchronous Motor Based on Disturbance Observer

This paper presents an adaptive nonsingular terminal sliding mode controller for a bearingless permanent magnet synchronous motor. In order to rapidly converge state variables associated with termi...

Design of an adaptive nonsingular terminal sliding model control method for a bearingless permanent magnet synchronous motor

This paper focuses on an improved square root unscented Kalman filter (SRUKF) and its application for rotor speed and position estimation of permanent magnet synchronous motor (PMSM). The approach, which combines the SRUKF and strong tracking filter, uses the minimal skew simplex transformation to reduce the number of the sigma points, and utilizes the square root filtering to reduce computational errors. The time-varying fading factor and softening factor are introduced to self-adjust the gain matrices and the state forecast covariance square root matrix, which can realize the residuals orthogonality and force the SRUKF to track the real state rapidly. The theoretical analysis of the improved SRUKF and implementation details for PMSM state estimation are examined. The simulation results show that the improved SRUKF has higher nonlinear approximation accuracy, stronger numerical stability and computational efficiency, and it is an effective and powerful tool for PMSM state estimation under the conditions of step response or load disturbance.

https://www.mdpi.com/1996-1073/9/7/489/pdf

State Estimation of Permanent Magnet Synchronous Motor Using Improved Square Root UKF

The invention discloses a permanent magnet synchronous motor state estimation method based on a sliding mode back EMF observer. According to stator voltage and stator current detected in real time, a sigmoid function is used to substitute a sign function, and the sliding mode back EMF observer is constructed to estimate the back EMF. The type of the sliding mode back EMF observer is characterized in that the observer is insensitive to switch noise and has a filtering characteristic, thus the filtering of the estimated back EMF through a low-pass filter is not needed. After the normalization processing of the back EMF, a rotor position and speed information are extracted through a PI-I structure phase-locked loop position observer equivalent to a simplified Kalman filter. The permanent magnet synchronous motor state estimation method of the invention has good estimation performance even in the condition of noise and motor parameter changes, the chattering phenomenon in a traditional sliding mode observer is reduced, and the dynamic tracking performance and estimation precision of the rotor position and speed are improved.

Permanent magnet synchronous motor state estimation method based on sliding mode back EMF observer

The invention relates to an adaptive nonsingular terminal sliding model control method for permanent magnet synchronous motors on the basis of disturbance observers. An adaptive nonsingular terminal sliding model controller is introduced into speed loops of vector control systems for the permanent magnet synchronous motors. The adaptive nonsingular terminal sliding model control method is characterized in that an adaptive variable-speed exponential approach law is proposed, first-order norms of state variables are introduced into the approach law, index approach speeds and constant approach speeds are adaptively adjusted according to the distances from the state variables to balance points, accordingly, the approach time can be shortened, and system buffeting can be weakened; the disturbance observers are designed for solving the problems of external disturbance of existing systems and load perturbation, and observation values are fed into designs of the sliding mode controllers. Rotational speeds can be quickly tracked when the systems are disturbed or load fluctuates, accordingly, overshoot and steady-state static difference of the systems can be reduced, and the robustness of the systems can be greatly enhanced.

Adaptive nonsingular terminal sliding model control method for permanent magnet synchronous motors on basis of disturbance observers

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