Ullah Ameen, Ullah Safeer, Zhang Zhang, Jianfei Pan
College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China.
Department of Electrical Engineering, Quaid-e-Azam College of Engineering & Technology, Sahiwal, 57000, Pakistan.
ISA Trans. 2025 Apr 29. doi: 10.1016/j.isatra.2025.04.007.
This paper presents a novel sliding mode control design for enhancing the reference speed tracking of permanent magnet synchronous motors under uncertain load disturbances and parametric variations. The proposed approach integrates a high-order super-twisting observer with a smooth super-twisting sliding mode control law to achieve a precise and rapid tracking performance. A smooth super-twisting sliding mode control is designed to ensure fast convergence of the speed tracking errors. Nonetheless, the incomplete state information resulting from lumped disturbances induces chattering in the system. To address this issue, a high-order super-twisting observer is devised to estimate the lumped disturbance and provide feedback compensation, thereby augmenting the robustness of the system. This study examines closed-loop finite-time stability using the Lyapunov function theory. An extensive comparison of the experimental and simulation results of the proposed control design with those of the classical sliding mode and super-twisting sliding mode shows its superiority and effectiveness. The proposed algorithm demonstrated outstanding dynamic robustness and tracking performance for managing external load disturbances and model uncertainties .
本文提出了一种新颖的滑模控制设计，用于在不确定负载扰动和参数变化情况下增强永磁同步电机的参考速度跟踪。所提出的方法将高阶超扭曲观测器与平滑超扭曲滑模控制律相结合，以实现精确且快速的跟踪性能。设计了一种平滑超扭曲滑模控制，以确保速度跟踪误差的快速收敛。尽管如此，集中扰动导致的不完全状态信息会引起系统中的抖振。为了解决这个问题，设计了一个高阶超扭曲观测器来估计集中扰动并提供反馈补偿，从而增强系统的鲁棒性。本研究使用李雅普诺夫函数理论研究闭环有限时间稳定性。将所提出的控制设计的实验和仿真结果与经典滑模和超扭曲滑模的结果进行了广泛比较，显示了其优越性和有效性。所提出的算法在管理外部负载扰动和模型不确定性方面表现出出色的动态鲁棒性和跟踪性能。
