IEEE Access (Jan 2023)

An Adaptive Backstepping Sliding-Mode Control for Improving Position Tracking of a Permanent-Magnet Synchronous Motor With a Nonlinear Disturbance Observer

  • Ton Hoang Nguyen,
  • Ty Trung Nguyen,
  • Kien Minh Le,
  • Hoang Ngoc Tran,
  • Jae Wook Jeon

DOI
https://doi.org/10.1109/ACCESS.2023.3248604
Journal volume & issue
Vol. 11
pp. 19173 – 19185

Abstract

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To provide reliable position control for a permanent-magnet synchronous motor (PMSM) under conditions of lumped disturbances such as external load torque fluctuation and system parameter variation, an adaptive backstepping sliding-mode control (ABSMC) with a nonlinear disturbance observer (NDO) is proposed. An ABSMC is a non-cascade technique that employs a position-current single-loop control structure rather than a conventional cascade control structure for vector control of the PMSM. This method uses Lyapunov theory to design a control law that ensures the motor position reaches a desired value in a finite period of time and consequently achieves a rapid transient response. The proposed ABSMC incorporates adaptive convergence gain to avoid a large overshoot under point-to-point position command. The NDO with nonlinear observer gain is proposed to estimate unknown disturbances and provide feed-forward compensation for the ABSMC, improving robustness and reducing steady-state position error. The proposed methods are applied to an industrial motor drive to confirm their validity in real-world operating environments.

Keywords