A robust and fast sliding mode controller for position tracking control of permanent magnetic synchronous motor

Abstract

The permanent magnet synchronous motor (PMSM) is important in position tracking applications. A performance degradation is caused by the internal uncertainties and external load disturbance. To achieve a high control performance, a fast and precise control scheme with great robustness has to be applied. In this paper, we propose a composite control method for PMSM systems by combing the extended state observer (ESO) technique with fast terminal sliding mode (FTSM) control. The FTSM guarantees the fast convergence rate and the ESO can estimate the disturbance accurately. The proposed method has a fast response and a good disturbance rejection property compared with other sliding mode methods. Simulations are carried out to show the effectiveness of this method.