Sliding mode control of permanent magnet synchronous motor based on hierarchical nonsingular terminal and super twisting sliding mode disturbance observer

DOI:	10.11809/bqzbgcxb2025.02.025
Keywords:	permanent magnet synchronous motor; hierarchical nonsingular terminal sliding mode control; super twisting sliding mode disturbance observer; sliding mode control
Abstract:	Aiming at the problem that the proportional integral (PI) control of permanent magnet synchronous motor(PMSM) will cause serious control performance degradation due to parameter time varying and external disturbance during operation, the traditional linear sliding mode control (SMC) has slow convergence speed and chattering. A hierarchical non singular terminal sliding mode controller (HNSTSMC) is designed. The linear proportional integral differential(PID) sliding mode surface is used as the inner loop, and the fast non singular terminal sliding mode surface is used as the outer loop to construct the hierarchical sliding mode surface. The improved reaching law is used to ensure the global fast convergence of the speed tracking error. In order to improve the anti interference ability of the hierarchical nonsingular terminal sliding mode controller and reduce the chattering, the super twisting sliding mode disturbance observer (STSMDO) is used to identify the unknowns in the controller online and perform feedforward compensation. The PI control, traditional sliding mode control, hierarchical non singular terminal sliding mode control, nonsingular fast terminal sliding mode control based on improved load torque observer (NFTSMC+LTOB) and HNSTSMC+STSMDO composite sliding mode control are compared and analyzed by Matlab/Simulink simulation. The results show that the HNSTSMC+STSMDO compound control has no overshoot in the rated speed response and the adjustment time is 0.013 s under the no load condition of the motor. Under the sudden load of 2 Nm, the maximum speed fluctuation is 130 r/min, the recovery time is 0.004 5 s, the load is switched to 0.5 times the rated speed, and the adjustment time is 0.127 s. The permanent magnet synchronous motor has good dynamic performance and strong anti interference ability.
Issue:	Vol. 46 No. 2 (2025)
Published:	2025-02-28
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