A robust high-speed sliding mode control of permanent magnet synchronous motor based on simplified hysteresis current comparison

Abstract

A robust high-speed sliding mode control (SMC) of three phase permanent magnet synchronous motor (PMSM) is presented. The SMC served for inner speed control while a simplified hysteresis current control (HCC) scheme was used in the outer current control to generate gating signals for the inverter switches. The present research leverages on the ability of SMC to directly access system speed error which it attempts driving to zero by cancelling modelling uncertainties and disturbances. Performance comparison was done for the SMC model and an existing model having classical PI controller. With the initial positive speed command of 200 rpm at 5 Nm constant loading, rotor speed with SMC neatly settled to the reference speed at 0.085 seconds without overshoot while the rotor speed of the model with PI controller settled at 0.217 seconds after overshoot. This translates to 155.3% speed enhancement. Similar superior speed performance of the SMC was also observed during recovering from sudden speed reversal. While the SMC model recovered and settled to the reference speed of -200 rpm at 0.369 seconds, the model with PI controller settled at 0.482 seconds. From the results, it can be seen that SMC demonstared superiority over the conventioanl PI controller for complex drives systems.

A tracking control design for a DC motor using robust sliding mode learning control

“…The following Lemma has been introduced to demonstrate the stability of the entire system. Lemma: consider the model in (13) under the proposed RLSMC law in (19) with correction form in (20), then a zerovalue asymptotic convergence can be guaranteed for the tracking error e in (16). Proof: recalling the candidate Lyapunov function V (t) from ( 21), then the time derivative along the system trajectory can be achieved as follows:…”

“…In addition, the sliding variable is given as csmc = ė + λ e + edt, where (e) is the tracking error defined in (16). By fulfilling the sliding condition (s=0), we can easily compute U n as:…”

“…On the other hand, within the sight of uncertainties and perturbations, an efficient sliding mode controller (SMC) for classical nonlinear control was designed to maintain the system's stability. Due to its robustness and rapid convergence against system perturbations and uncertainties, SMC was deployed to control the DC motor employed in various industrial applications as well as certain robots, such as the robotic hand [14], industrial robotic gripper [15], permanent magnet synchronous machine (PMSM) [16], and analysis was carried out while the load was changing to avoid being impacted by the loading circumstances [17]. The global SMC was used for the BLDC motor with unknown loads to manage second-order time-varying systems with constrained unpredictability in the parameters and disturbances and to drive the system states along the minimum time trajectory while staying within the input torque limit [18], and the levels of noise from torque ripple can be significantly reduced [19].…”

A novel direct torque and flux control of permanent magnet synchronous motor with analytically-tuned PI controllers

“…Since the torque of a PMSM in rotor reference frame is controlled by q-axis current, the PI torque controller model is obtained by modifying the q-axis voltage (in ( 8)). From (8).…”

A tracking control design for linear motor using robust sliding mode learning control

“…❒ 961 [11], industrial robotic manipulator [12], magnetic bearing [13], permanent magnet synchronous machine [14], and piezoelectric actuator [15], [16]. However, the main shortcoming of the traditional SMC is that producing undesired chattering problem in control which makes SMC inappropriate for industrial applications [17].…”