Implementation of integral fixed-time sliding mode controller for speed regulation of PMSM servo system

Aiming at the control problem for the speed regulation system of permanent magnet synchronous motor (PMSM), an integral fixed-time sliding mode control algorithm with the disturbance estimation compensation is designed to improve PMSM system’s disturbance rejection ability in this paper. First of all, the integral fixed-time sliding mode surface is selected according to the error dynamical equation. Then an integral fixed-time sliding mode control algorithm is proposed and rigorous analysis method of the Lyapunov function is provided to demonstrate the speed tracking error will converge to zero in a fixed time. Besides, considering the effect of disturbance load torque, an integral fixed-time sliding mode control algorithm with disturbance estimation compensation is proposed. Through disturbance feedforward compensation, the integral fixed-time sliding mode control law can offer a better dynamical performance with smaller value for the speed chattering. Finally, comparison results of numerical experiments are provided to verify the effectiveness and superiority of the integral fixed-time sliding mode control method.

[1]  Zhenwei Cao,et al.  Precise Discrete-Time Steering Control for Robotic Fish Based on Data-Assisted Technique and Super-Twisting-Like Algorithm , 2020, IEEE Transactions on Industrial Electronics.

[2]  L. Rosier.  Homogeneous Lyapunov function for homogeneous continuous vector field , 1992 .

[3]  Wei Xu,et al.  Novel Composite Sliding Mode Control for PMSM Drive System Based on Disturbance Observer , 2016, IEEE Transactions on Applied Superconductivity.

[4]  Jie Huang,et al.  On an output feedback finite-time stabilization problem , 2001, IEEE Trans. Autom. Control..

[5]  Menghua Zhang,et al.  Adaptive integral sliding mode control with payload sway reduction for 4-DOF tower crane systems , 2020, Nonlinear Dynamics.

[6]  Hongbo Shi,et al.  Permanent-magnet synchronous motor velocity control based on second-order integral sliding mode control algorithm , 2015 .

[7]  Ning Wang,et al.  Nonlinear disturbance observer-based backstepping finite-time sliding mode tracking control of underwater vehicles with system uncertainties and external disturbances , 2017 .

[8]  Myung-Joong Youn,et al.  Robust nonlinear speed control of PM synchronous motor using boundary layer integral sliding mode control technique , 2000, IEEE Trans. Control. Syst. Technol..

[9]  Chung Choo Chung,et al.  Microstepping Using a Disturbance Observer and a Variable Structure Controller for Permanent-Magnet Stepper Motors , 2013, IEEE Transactions on Industrial Electronics.

[10]  Li Sun,et al.  Nonlinear Speed Control for PMSM System Using Sliding-Mode Control and Disturbance Compensation Techniques , 2013, IEEE Transactions on Power Electronics.

[11]  Shihua Li,et al.  Adaptive Speed Control for Permanent-Magnet Synchronous Motor System With Variations of Load Inertia , 2009, IEEE Transactions on Industrial Electronics.

[12]  J. Zhou,et al.  Adaptive backstepping speed controller design for a permanent magnet synchronous motor , 2002 .

[13]  Chih-Hong Lin,et al.  Robust H∞ controller design with recurrent neural network for linear synchronous motor drive , 2003, IEEE Trans. Ind. Electron..

[14]  Guanghui Wen,et al.  Distributed fixed-time consensus for nonlinear heterogeneous multi-agent systems , 2020, Autom..

[15]  Hussein Obeid,et al.  Second order sliding mode observer of linear induction motor , 2018, IET Electric Power Applications.

[16]  Shihua Li,et al.  A composite speed controller based on a second-order model of permanent magnet synchronous motor system , 2011 .

[17]  Qing Wang,et al.  Finite-time adaptive fuzzy command filtered control for nonlinear systems with indifferentiable non-affine functions , 2020, Nonlinear Dynamics.

[18]  Xinghuo Yu,et al.  Design and Implementation of Terminal Sliding Mode Control Method for PMSM Speed Regulation System , 2013, IEEE Transactions on Industrial Informatics.

[19]  Xinghuo Yu,et al.  Efficient Computation for Sparse Load Shifting in Demand Side Management , 2017, IEEE Transactions on Smart Grid.

[20]  Xinghuo Yu,et al.  Distributed Optimal Consensus Over Resource Allocation Network and Its Application to Dynamical Economic Dispatch , 2018, IEEE Transactions on Neural Networks and Learning Systems.

[21]  Shihong Ding,et al.  Second-order sliding mode controller design with output constraint , 2020, Autom..

[22]  S.-W. Hung,et al.  Robust current control-based sliding mode control with simple uncertainties estimation in permanent magnet synchronous motor drive systems , 2010 .

[23]  Dennis S. Bernstein,et al.  Finite-Time Stability of Continuous Autonomous Systems , 2000, SIAM J. Control. Optim..

[24]  Hongwen Li,et al.  Torque Ripple Minimization of PMSM Based on Robust ILC Via Adaptive Sliding Mode Control , 2018, IEEE Transactions on Power Electronics.

[25]  Shihong Ding,et al.  Composite Super-Twisting Sliding Mode Control Design for PMSM Speed Regulation Problem Based on a Novel Disturbance Observer , 2020, IEEE Transactions on Energy Conversion.

[26]  Shihua Li,et al.  Speed Control for PMSM Servo System Using Predictive Functional Control and Extended State Observer , 2012, IEEE Transactions on Industrial Electronics.

[27]  Wei Xu,et al.  Improved Deadbeat Predictive Current Control Combined Sliding Mode Strategy for PMSM Drive System , 2018, IEEE Transactions on Vehicular Technology.

[28]  Chung-Shi Tseng,et al.  Robust PID control design for permanent magnet synchronous motor: A genetic approach , 2008 .

[29]  Ahmed Safa,et al.  Finite-time integral sliding mode control for chaotic permanent magnet synchronous motor systems , 2017 .

[30]  Myung-Joong Youn,et al.  A nonlinear speed control for a PM synchronous motor using a simple disturbance estimation technique , 2001, IEEE Trans. Ind. Electron..

[31]  Hai Wang,et al.  Robust tracking control for vehicle electronic throttle using adaptive dynamic sliding mode and extended state observer , 2020 .

[32]  Y. Jia,et al.  Fixed-time consensus protocols for multi-agent systems with linear and nonlinear state measurements , 2015 .

[33]  Jie Huang,et al.  Finite-time control for robot manipulators , 2002, Syst. Control. Lett..

[34]  Mingwei Sun,et al.  Super-twisting sliding mode control for aircraft at high angle of attack based on finite-time extended state observer , 2020 .

[35]  Wei Zhao,et al.  20-T Dipole Magnet With Common-Coil Configuration: Main Characteristics and Challenges , 2016, IEEE Transactions on Applied Superconductivity.

[36]  Han Ho Choi,et al.  Fuzzy Sliding Mode Speed Controller for PM Synchronous Motors With a Load Torque Observer , 2012, IEEE Transactions on Power Electronics.

[37]  Yu Shao,et al.  Fast finite-time stability and its application in adaptive control of high-order nonlinear system , 2019, Autom..

[38]  Denis V. Efimov,et al.  Time-Varying Parameter Identification Algorithms: Finite and Fixed-Time Convergence , 2017, IEEE Transactions on Automatic Control.

[39]  Andrey Polyakov,et al.  Nonlinear Feedback Design for Fixed-Time Stabilization of Linear Control Systems , 2012, IEEE Transactions on Automatic Control.

[40]  Leonid Fridman,et al.  On adaptive sliding mode control without a priori bounded uncertainty , 2020, Autom..

[41]  Liang Zhang,et al.  Fixed-time sliding mode attitude tracking control for a submarine-launched missile with multiple disturbances , 2018 .

[42]  Huiling Zhu,et al.  Adaptive Fuzzy Sliding Mode Control Algorithm for a Non-Affine Nonlinear System , 2007, IEEE Transactions on Industrial Informatics.

[43]  Haibo Du,et al.  Design of Robust Discretized Sliding Mode Controller: Analysis and Application to Buck Converters , 2020, IEEE Transactions on Industrial Electronics.

[44]  Kuo-Kai Shyu,et al.  A novel motor drive design for incremental motion system via sliding-mode control method , 2005, IEEE Transactions on Industrial Electronics.

[45]  Yuxin Su,et al.  Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors , 2005, IEEE Transactions on Industrial Electronics.

[46]  Bruno Allard,et al.  A Comparative Study of Predictive Current Control Schemes for a Permanent-Magnet Synchronous Machine Drive , 2009, IEEE Transactions on Industrial Electronics.

[47]  Lei Mei,et al.  An Adaptive Super Twisting Nonlinear Fractional Order PID Sliding Mode Control of Permanent Magnet Synchronous Motor Speed Regulation System Based on Extended State Observer , 2020, IEEE Access.