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 to ensure the motor position reaches a desired value in a finite period of time and consequently achieves a rapid transient response. The proposed ABSMC incorporates an adaptive convergence gain to avoid a large overshoot under point-to-point position command. The NDO with a 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.INDEX TERMS Permanent magnet synchronous motor, position tracking, adaptive backstepping sliding mode control, nonlinear disturbance observer, disturbance.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.