In this paper, in order to optimize the dynamic performance of the permanent magnet synchronous motor (PMSM) speed regulation system, a nonlinear speed-control algorithm for the PMSM control systems using sliding-mode control (SMC) is developed. First, a sliding-mode control method based on a new sliding-mode reaching law (NSMRL) is proposed. This NSMRL includes the system state variable and the power term of sliding surface function. In particular, the power term is bounded by the absolute value of the switching function, so that the reaching law can be expressed in two different forms during the reaching process. This method can not only effectively suppresses the inherent chattering, but also increases the velocity of the system state reaching to the sliding-mode surface. Based on this new reaching law, a sliding-mode speed controller (SMSC) of PMSM is designed. Then, considering the large chattering phenomenon caused by high switching gain, an improved anti-disturbance sliding-mode speed controller(ADSMSC) method, called SMSC+ESO method, is developed. This method introduces an extended state observer (ESO) to observe the lumped disturbance and adds a feedforward compensation item based on the observed disturbances to the SMSC. Finally, simulation and experimental results both show the validity of the proposed control method. Index Terms-permanent magnet synchronous motor (PMSM), anti-disturbance sliding mode speed controller (ADSMSC), new sliding-mode reaching law (NSMRL), extended state observer (ESO).

In order to improve the anti-disturbance performance of permanent magnet synchronous motor (PMSM) servo system, a sliding-mode control strategy using a new reaching law (NRL) is proposed. The NRL incorporates power term and switching gain term of the system state variables into the conventional exponential reaching law (CERL), which can effectively suppress the sliding-mode chattering and increase the convergence rate of system state reaching sliding-mode surface. Based on this new reaching law, a sliding-mode speed controller (SMSC) of PMSM is designed. At the same time, to solve the chattering problem caused by the large sliding-mode switching gain, an anti-disturbance sliding-mode speed controller method with an extended sliding-mode disturbance observer (ESMDO), called SMSC+ESMDO method, is developed. The sliding-mode disturbance observer is designed to accurately estimate the motor speed and external load disturbances, and the disturbance estimator is used as a feed-forward to compensate the sliding-mode speed controller (SMSC) to improve the system robustness and reduce the system chattering. Simulation and experimental results show that the proposed compound sliding-mode control strategy can effectively improve the dynamic performance and robustness of the system compared with the PI controller.

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