volume | PIER Journals

Abstract

When permanent magnet synchronous motors (PMSMs) drive flexible loads, unknown disturbances (such as sudden load torque changes, parameter uncertainties, and unmodeled dynamics), can degrade the control performance of the system and may even cause irreversible physical damage. To deal with this problem, this paper presents an improved non-singular terminal sliding mode control (INTSMC) scheme based on a finite-time extended state observer. First, the acceleration feedback is introduced into the speed loop to establish the dual-inertia model of the PMSM flexible load system. Secondly, the conventional exponential reaching law is improved to obtain a novel reaching law with adaptive adjustment of the convergence speed, and a novel INTSMC controller is designed accordingly to enhance the system response speed. Then, a finite-time extended state observer (FTESO) is designed to estimate the disturbances of the system, and the estimated disturbances are compensated for the INTSMC controller to achieve convergence in finite time and improve the robustness of the system. The finite-time stability theory is used to prove the stability of the designed controller and observer. Finally, the simulations and experiments demonstrate the effectiveness of the proposed control scheme in improving the system’s anti-disturbance capability.

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doi:10.2528/PIERM23062401

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doi:10.23919/PCMP.2023.000085

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Dr. Yingshen He

Professor Kaihui Zhao

Mr. Zhixuan Yi

Dr. Yishan Huang