volume | PIER Journals

Abstract

Improving only the speed-loop controller in a PMSM drive system is insufficient to address limitations in the current loops, such as integral saturation and severe oscillations. To achieve high-performance current control across the speed-current loop structure, this paper proposes an improved non-singular fast terminal sliding mode continuous composite control (INFTSMC) method, integrated with a fast super-twisting sliding mode observer (STSMO). First, a state-space model of the PMSM speed-current loops is established. Then, the speed and current loop controllers are designed using the STSMO within the INFTSMC framework. The fast super-twisting control law is adopted to reduce the number of observer parameters and to mitigate the severe oscillations caused by high gains in conventional sliding mode observers. Finally, the proposed composite control strategy is compared with conventional PI and SMC+SMO controllers through both simulation and RT-LAB experiments. The results demonstrate that the proposed approach significantly enhances the dynamic response performance of the PMSM drive system.

1. He, Yingshen, Kaihui Zhao, Zhixuan Yi, and Yishan Huang, "Improved terminal sliding mode control of PMSM dual-inertia system with acceleration feedback based on finite-time ESO," Progress In Electromagnetics Research M, Vol. 134, 21-30, 2025.
doi:10.2528/pierm25040405 Google Scholar

2. Wen, Dingdou, Chaoyi Liu, Yanqin Zhang, and Zhun Cheng, "Simplified duty cycle modulation model predictive current control of PMSM without cost function," Progress In Electromagnetics Research C, Vol. 156, 147-159, 2025.
doi:10.2528/pierc25041302 Google Scholar

3. Zhang, Yang, Ping Yang, Kun Cao, Yang Gao, Gao Tang, and Qing Chen, "Improved model predictive torque control strategy incorporating decoupled sliding mode disturbance observer for PMSM," Progress In Electromagnetics Research C, Vol. 153, 105-117, 2025.
doi:10.2528/pierc25011502 Google Scholar

4. Cheng, Siyuan, Haoze Wang, and Yajie Jiang, "Improved orthogonal flux corrector-based rotor flux estimation in PMSM sensorless control," Progress In Electromagnetics Research Letters, Vol. 121, 57-63, 2024.
doi:10.2528/pierl24022801 Google Scholar

5. Li, Xiangfei, Junqin Liu, Kaihui Zhao, Yang Yin, and Lihua Zou, "An improved model-free sliding mode control algorithm of super-twisting for SPMSM," Progress In Electromagnetics Research C, Vol. 135, 195-210, 2023.
doi:10.2528/pierc23061502 Google Scholar

6. Yi, Zhixuan, Xiangfei Li, Yang Yin, Junqin Liu, and Kaihui Zhao, "Deep flux weakening control of IPMSM based on d-axis current error integral regulator," Progress In Electromagnetics Research M, Vol. 118, 163-175, 2023.
doi:10.2528/pierm23080101 Google Scholar

7. Li, Xiangfei, Junqin Liu, Yang Yin, and Kaihui Zhao, "Improved super-twisting non-singular fast terminal sliding mode control of interior permanent magnet synchronous motor considering time-varying disturbance of the system," IEEE Access, Vol. 11, 17485-17496, 2023.
doi:10.1109/access.2023.3244190 Google Scholar

8. Zhao, Kaihui, Wenchang Liu, Tonghuan Yin, Ruirui Zhou, and Wangke Dai, "Model-free sliding mode control for PMSM drive system based on ultra-local model," Energy Engineering: Journal of the Association of Energy Engineers, Vol. 119, No. 2, 767-780, 2022.
doi:10.32604/ee.2021.018617 Google Scholar

9. Li, Xiangfei, Junqin Liu, Kaihui Zhao, Yang Yin, and Lihua Zou, "Improved non-singular fast terminal sensor-less sliding mode control of IPMSM considering external disturbance and parameter perturbation," Progress In Electromagnetics Research B, Vol. 102, 81-98, 2023.
doi:10.2528/pierb23050202 Google Scholar

10. Zhao, Kaihui, Wenchang Liu, Tonghuan Yin, Ruirui Zhou, and Wangke Dai, "Model-free sliding mode control for PMSM drive system based on ultra-local model," Energy Engineering: Journal of the Association of Energy Engineers, Vol. 119, No. 2, 767-780, 2022.
doi:10.32604/ee.2021.018617 Google Scholar

11. Wang, Fengxiang, Yao Wei, Hector Young, Dongliang Ke, Haotian Xie, and José Rodríguez, "Continuous-control-set model-free predictive fundamental current control for PMSM system," IEEE Transactions on Power Electronics, Vol. 38, No. 5, 5928-5938, 2023.
doi:10.1109/tpel.2023.3240282 Google Scholar

12. Yim, Jaeyun, Sesun You, Youngwoo Lee, and Wonhee Kim, "Chattering attenuation disturbance observer for sliding mode control: Application to permanent magnet synchronous motors," IEEE Transactions on Industrial Electronics, Vol. 70, No. 5, 5161-5170, 2023.
doi:10.1109/tie.2022.3189074 Google Scholar

13. Xu, Wei, Abdul Khalique Junejo, Yi Liu, and Md. Rabiul Islam, "Improved continuous fast terminal sliding mode control with extended state observer for speed regulation of PMSM drive system," IEEE Transactions on Vehicular Technology, Vol. 68, No. 11, 10465-10476, 2019.
doi:10.1109/tvt.2019.2926316 Google Scholar

14. Hou, Qiankang, Shihong Ding, and Xinghuo Yu, "Composite super-twisting sliding mode control design for PMSM speed regulation problem based on a novel disturbance observer," IEEE Transactions on Energy Conversion, Vol. 36, No. 4, 2591-2599, 2021.
doi:10.1109/tec.2020.2985054 Google Scholar

15. Wang, Zitan, Jianyun Chai, Xuewei Xiang, Xudong Sun, and Haifeng Lu, "A novel online parameter identification algorithm designed for deadbeat current control of the permanent-magnet synchronous motor," IEEE Transactions on Industry Applications, Vol. 58, No. 2, 2029-2041, 2021.
doi:10.1109/tia.2021.3136807 Google Scholar

16. Wu, Yun-jie, Jing-xing Zuo, and Liang-hua Sun, "Adaptive terminal sliding mode control for hypersonic flight vehicles with strictly lower convex function based nonlinear disturbance observer," ISA Transactions, Vol. 71, 215-226, 2017.
doi:10.1016/j.isatra.2017.08.008 Google Scholar

17. Merzouki, Tarik and M’hemed Rachek, "High accurate PMSM computation model based on strongly coupled magnetic field and multi-turn electric winding circuits using the time-stepping finite element," Progress In Electromagnetics Research C, Vol. 153, 13-23, 2025.
doi:10.2528/pierc24122504 Google Scholar

18. Zhou, Dazuo and Xin Wang, "Deadbeat control of permanent magnet synchronous motorized spindle based on improved parameter identification algorithm," Progress In Electromagnetics Research C, Vol. 153, 81-86, 2025.
doi:10.2528/pierc25010201 Google Scholar

19. Guo, Xin, Shoudao Huang, Kaiyuan Lu, Yu Peng, Haixin Wang, and Junyou Yang, "A fast sliding mode speed controller for PMSM based on new compound reaching law with improved sliding mode observer," IEEE Transactions on Transportation Electrification, Vol. 9, No. 2, 2955-2968, 2023.
doi:10.1109/tte.2022.3213562 Google Scholar

20. Yang, Yuxin, Musheng Deng, Sicheng Li, and Yang Zhang, "Based on fast non-singular terminal sliding of PMSM model-free control," Progress In Electromagnetics Research C, Vol. 137, 139-153, 2023.
doi:10.2528/PIERC23051803 Google Scholar

21. Kang, E., H. Yu, and K. Han, "No nlinear gain non-singular fast terminal sliding mode control for permanent magnet synchronous motors," Electric Machines and Control, Vol. 28, No. 5, 73-81, 2024. Google Scholar

22. Zhao, Ximei and Dongxue Fu, "Adaptive neural network nonsingular fast terminal sliding mode control for permanent magnet linear synchronous motor," IEEE Access, Vol. 7, 180361-180372, 2019.
doi:10.1109/access.2019.2958569 Google Scholar

23. Li, Xiangfei, Yang Yin, Yang Zhou, Wenchang Liu, and Kaihui Zhao, "The non-singular fast terminal sliding mode control of interior permanent magnet synchronous motor based on deep flux weakening switching point tracking," Energy Engineering, Vol. 120, No. 2, 277, 2023.
doi:10.32604/ee.2023.022461 Google Scholar

24. Zhao, K. H., W. K. Dai, R. R. Zhou, Aojie Leng, Wenchang Liu, Pengqi Qiu, Gang Huang, and Gongping Wu, "Novel model-free sliding mode control of permanent magnet synchronous motor based on extended sliding mode disturbance observer," Proceedings of the CSEE, Vol. 42, No. 6, 2375-2386, 2022. Google Scholar

25. Wang, Jiaoyang, Renjun Zhou, and Junqin Liu, "New non-singular fast terminal sliding mode control of permanent magnet synchronous motor based on super-twisting sliding mode observer," Progress In Electromagnetics Research C, Vol. 146, 151-162, 2024.
doi:10.2528/pierc24061501 Google Scholar

Professor Junqin Liu

Dr. Zhentong Wang

Dr. Feng Deng

Professor Kaihui Zhao

Dr. Xiangfei Li