Backstepping Sliding Mode Control of a Permanent Magnet Synchronous Motor Based on a Nonlinear Disturbance Observer

Abstract

In this paper, a backstepping sliding mode controller based on a nonlinear disturbance observer (NDO-SMC) is proposed to realize the high-performance speed control of a permanent magnet synchronous motor (PMSM). This paper compares the advantages and disadvantages of the traditional backstepping sliding mode control algorithm (SMC) and integral backstepping sliding mode control algorithm (I-SMC) in the face of mismatched disturbances. In view of the shortcomings of these two algorithms, the idea of using a disturbance observer to observe disturbance and carry out dynamic compensation is proposed, and the composite controller is designed. The overshoot and settling time is improved by 30% and 8 s, respectively, for the proposed NDO-SMC controller compared with the SMC controller. The simulation and experimental results illustrate that the designed controller not only effectively solves the torque jitter problem of SMC, but also improves the overshoot problem caused by the integral module of I-SMC. There is also a better matching degree between the theoretical derivation, the simulation results, and experimental data. It also proves that the composite control algorithm proposed in this paper provides a meaningful solution to the operation disturbance suppression problem of the permanent magnet synchronous motor.

Fast terminal sliding mode control of agricultural robots with permanent magnet synchronous motor servo systems based on an extended state observer for path tracking

“…23,24 While effective in reducing system vibrations, exponential reaching rates cannot ensure that the system ultimately converges to the origin; instead, they tend to lead to oscillations around the vicinity of the origin. 25,26 As control theory and computer technology advance rapidly, researchers have explored various nonlinear control strategies, including adaptive control, predictive control, sliding mode control (SMC), backstepping control, and Model Predictive Control (MPC), to enhance path tracking performance in agricultural robot PMSM servo systems. 27,28 Notably, disturbance observer techniques have gained increasing attention to enhance disturbance rejection capabilities.…”

Effects of Fractional Order on Performance of FOSMC for Speed Control of PMSM

“…Speed control in high performance application of PMSM requires not only precise speed tracking but also excellent insensitivity against load disturbances. Various nonlinear controls have been proposed to achieve these properties, which includes sliding mode control, predictive control, backstepping control, adaptive control, automatic disturbance rejection control and artificial intelligence incorporated controllers [1][2][3][4][5][6][7][8][9][10][11][12][13]. Among them, sliding mode controller (SMC) has been widely studied as PMSM speed controller.…”

Based on Fast Non-singular Terminal Sliding of PMSM Model-free Control

“…In order to solve the limitations brought by traditional PI control, researchers have proposed a new control theory, which introduced nonlinear control into PMSM system variables, such as adaptive control [6][7][8], model prediction speed control [9][10][11], robust control [12][13][14], and sliding mode control [15][16][17]. Because sliding mode control is not easy to be interfered with by the outside world, it is widely used in PMSM control, but because the opening function is discontinuous, there will be serious oscillations at the critical point of the synovial surface, resulting in unstable system status.…”