Speed Control for PMSM with Fast-Terminal Super-Twisting Sliding Mode Controller via Extended State Disturbance Observer
Abstract
:1. Introduction
- An FTSTRL is built to shorten the reaching time from the initial value to the sliding surface to enhance the robustness of sliding mode control.
- In terms of anti-interference, the FTSTSMC demonstrates strong anti-interference capabilities due to the application of the FTSTRL.
- There was coordination between the ESDO and the FTSTSMC to achieve feedforward compensation.
- This was validated by comparing the FTSTRL with the CSTRL and NSMRL, using metrics like integrated square error (ISE), integrated time square error (ITSE), integrated absolute error (IAE), and integrated time absolute error (ITAE) for detailed comparative and quantitative analyses.
2. PMSM Modeling
- Stator core saturation is ignored, assuming the magnetic circuit is linear and inductance parameters remain constant.
- Core eddy current and hysteresis losses are neglected.
- The electrical conductivity of the rotor’s permanent magnet material is assumed to be zero.
- There are no damper windings on the rotor.
- The currents in the stator are three-phase balanced sine waves.
- and represent the voltages along the d-axis and q-axis, respectively.
- R denotes the stator resistance.
- and indicate the currents along the d-axis and q-axis, respectively.
- and signify the inductances along the d-axis and q-axis, respectively.
- p is the number of pole pairs.
- is the motor’s mechanical angular velocity.
- is the flux linkage of the permanent magnet.
3. Controller Design
3.1. Traditional Super-Twisting Reaching Law
- Selecting an appropriate sliding surface.
- Designing the control law to ensure that the system trajectory converges to the sliding surface under the influence of the control law.
3.2. Fast-Terminal Super-Twisting Reaching Law
3.3. Design of the Sliding Mode Controller for the Speed Loop via the FTSTRL
4. Disturbance Estimation with Extended State Disturbance Observer
4.1. Design of Extended State Disturbance Observer
4.2. Stability Analysis via Extended State Disturbance Observer
5. Simulation
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Parameters | Value | Unit |
---|---|---|
Resistance | 2.875 | |
Inductance | 8.5 | |
Flux linkage | 0.175 | |
Inertia J | 0.0003 | |
Damping coefficient | 0.0008 | |
Pole pairs | 4 | |
Switching frequency | 20,000 |
Parameters | Value |
---|---|
15 | |
9 | |
0.0005 |
Reaching Laws | Value |
---|---|
CSTRL | |
NSMRL | |
FTSTRL |
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Wang, H.; Zhang, G.; Liu, X. Speed Control for PMSM with Fast-Terminal Super-Twisting Sliding Mode Controller via Extended State Disturbance Observer. Appl. Sci. 2024, 14, 8126. https://doi.org/10.3390/app14188126
Wang H, Zhang G, Liu X. Speed Control for PMSM with Fast-Terminal Super-Twisting Sliding Mode Controller via Extended State Disturbance Observer. Applied Sciences. 2024; 14(18):8126. https://doi.org/10.3390/app14188126
Chicago/Turabian StyleWang, Hengqiang, Guangming Zhang, and Xiaojun Liu. 2024. "Speed Control for PMSM with Fast-Terminal Super-Twisting Sliding Mode Controller via Extended State Disturbance Observer" Applied Sciences 14, no. 18: 8126. https://doi.org/10.3390/app14188126