Non‐cascade backstepping sliding mode control with three‐order extended state observer for PMSM drive

Abstract

To simplify the control structure and increase the anti-disturbance performance, a non-cascade control method for a permanent magnet synchronous motor drive system is studied, which regulates the speed and current in one loop. The proposed control scheme is a composite control strategy including speed-current single-loop feedback control and feedforward compensation based on disturbance estimation. A feedback controller based on backstepping sliding mode control is proposed to realise speed-current single-loop. Disturbance estimated by a third-order extended state observer is used in feedforward compensation. Rigorous analysis of stability is conducted to validate the convergence of the control scheme. Simulation and experimental results demonstrate that the proposed control scheme achieves a better speed tracking performance and disturbance rejection property over proportional-integral-derivative and sliding mode control.

A Novel Equivalent Input Disturbance-Based Adaptive Sliding Mode Control for Singularly Perturbed Systems

“…Theorem 1: During the sliding mode, the system ( 12) is asymptotically stable on the sliding surface (22).…”

“…A suitable sliding surface is required, and thus the system dynamics are strictly restricted onto it during the sliding mode [21]. Meanwhile, during the reaching mode, the designed SMC law should drive the sliding surface to zero in finite time, and consistently maintain the system state variables on it for all subsequent time [22]. The Lyapunov stability theorem and linear matrix inequality technique was employed in [23] to design a SMC strategy.…”

Backstepping Nonsingular Terminal Sliding Mode Control for PMSM With Finite-Time Disturbance Observer

“…However, due to the strong external disturbance and model uncertainty in complex working conditions, the PI controller cannot meet the practical requirements for some high performance applications. With the development of control theory and microcomputer technology, the nonlinear control strategies have been applied to PMSM drives, such as sliding model control [3][4], model predictive control [5], backstepping control [6], active disturbance rejection control [7], repetitive learning control [8], and intelligent control [9]. Among these methods, backstepping control, as a nonlinear recursive design method, is proposed in 1990s [10].…”

“…The composite approach preserves the merits of the sliding mode control in terms of high robustness and fast transient response, as well as backstepping control strategy in terms of globally asymptotic stability based on Lyapunov criterion, and it has been used in some applications, such as, robot manipulators [11], new energy power generation system [30], automotive vehicle [31]. In [6], a non-cascade backstepping sliding mode control strategy is proposed for PMSM drives, and the sliding mode control is used to improve the antidisturbance for the parameter disturbance. Although sliding mode control is less sensitive to disturbance, it is noticed that the common SMC only has the robustness to the matched disturbance, which means the uncertainties exist in the same channel as that of the control input [32].…”

Model-Free Non-Cascade Integral Sliding Mode Control of Permanent Magnet Synchronous Motor Drive with a Fast Reaching Law

“…But it is weak in suppressing the mismatched disturbance, such as the load disturbance of PMSM in non-cascade control. The disturbance rejection technique based on disturbance observer becomes an effective method to deal with the disturbance, such as disturbance observer [16], extended disturbance observer [17,18], finite time disturbance observer [19], nonlinear disturbance observer [20], sliding mode observer [21], reduced-order observer [22].…”