A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems

Jun-feng JIANG; Xiao-jun ZHOU; Wei ZHAO; Wei LI; Wen-dong ZHANG

doi:10.1631/FITEE.1900298

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A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems

Regular Papers | Updated：2022-05-19

- A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems
- 一种用于交流永磁同步电机位置控制的带有扩展状态观测器的快速积分滑模控制器
- Frontiers of Information Technology & Electronic Engineering Vol. 21, Issue 8, Pages: 1239-1250(2020)
- Affiliations：
  
  State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
  Zhejiang Province Key Laboratory of Advanced Manufacturing Technology, Zhejiang University, Hangzhou 310027, China
  Northwest Institute of Mechanical and Electrical Engineering, Xianyang 712099, China
  Beijing Linkstech Technology Co., Ltd, Beijing 102200, China
- Author bio：
  
  Xiao-jun ZHOU, E-mail: cmeesky@163.com
- Funds：
- DOI：10.1631/FITEE.1900298
  CLC： TM351
- Received：14 June 2019，
  
  Revised：2020-;7-;7，
  
  Published：2020-08
- Accepted：
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Jun-feng JIANG, Xiao-jun ZHOU, Wei ZHAO, et al. A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(8): 1239-1250.
DOI：

Jun-feng JIANG, Xiao-jun ZHOU, Wei ZHAO, et al. A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(8): 1239-1250. DOI： 10.1631/FITEE.1900298.

摘要

交流永磁同步电机在位置控制中得到广泛应用。然而由于内部不确定性和外部载荷干扰，其性能经常不能满足需求。为提高交流永磁同步电机系统的控制性能，提出一种具有快速响应能力和强鲁棒性的方法。首先，设计一个改进的积分终端滑模控制器，该控制器具有快速滑模面和连续的趋近律。然后采用扩展状态观测器测量内部和外部扰动，从而用前馈补偿方式抵消干扰。与其他滑模控制算法相比，该方法响应快速，并具更强的鲁棒性抵抗系统干扰。同时，控制系统位置跟踪误差能在有限时间内收敛至0。仿真和实验结果表明，该方法具有快速响应和强鲁棒性，并保证高精度控制。

Abstract

Permanent magnet synchronous motor (PMSM) has been widely used in position control applications. Its performance is not satisfactory due to internal uncertainties and external load disturbances. To enhance the control performance of PMSM systems

a new method that has fast response and good robustness is proposed in this study. First

a modified integral terminal sliding mode controller is developed

which has a fast-sliding surface and a continuous reaching law. Then

an extended state observer is applied to measure the internal and external disturbances. Therefore

the disturbances can be compensated for in a feedforward manner. Compared with other sliding mode methods

the proposed method has faster response and better robustness against system disturbances. In addition

the position tracking error can converge to zero in a finite time. Simulation and experimental results reveal that the proposed control method has fast response and good robustness

and enables high-precision control.

关键词

Keywords

references

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