PID Sliding Mode Control of PMSM Based on Improved Terminal Sliding Mode Reaching Law

Guodong Qin, Min Wang, Guizhou Cao, Qi Wang () and Yuefeng Liao
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Guodong Qin: School of Intelligent Manufacturing, Jiaxing Vocational and Technical College, Jiaxing 314036, China
Min Wang: School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China
Guizhou Cao: State Grid Henan Electric Power Research Institute, Zhengzhou 450001, China
Qi Wang: Institute of Scientific and Technical Information, Zhengzhou University, Zhengzhou 450001, China
Yuefeng Liao: School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China

Energies, 2025, vol. 18, issue 10, 1-15

Abstract: In order to enhance the dynamic performance and anti-disturbance ability of speed control for a permanent magnet synchronous motor (PMSM), a sliding mode control method based on a PID sliding surface and an improved terminal sliding mode reaching law (ITSMRL) is proposed. Firstly, an ITSMRL is proposed to increase the reaching speed and reduce chattering; moreover, it has been verified that the reaching law (RL) can achieve a sliding mode surface in finite time. Then, based on the dynamic model of PMSMs with uncertainties, an extended state observer (ESO) is used to estimate the lumped disturbance, and it is proven that the estimated error is bounded. Finally, on the basis of the observed feedforward disturbance, to enhance the disturbance rejection ability of PMSMs, a controller that combines the PID sliding mode surface and the ITSMRL is proposed. Moreover, the stability of the closed-loop system is proven. The composite method has the characteristics of a fast reaching speed, small chattering and strong robustness, and is verified by experiments.

Keywords: PMSM; improved reaching law; anti-disturbance ability (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2025
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