Super-Twisting Sliding Mode Control of Permanent Magnet DC Motor

Abstract

Permanent Magnet Direct Current (PMDC) motors have been broadly used in mechanical and electrical fields that integrate several applications. This type of motor is subjected to disturbances or sudden changes in loads, and motor speed control is necessary under these conditions. In this paper, we have implemented traditional controllers’ Proportional Integral Derivative (PID) and advanced controllers Super-Twisting Sliding Mode Control (STSMC) and Sliding Mode Control (SMC) through tuning Particle Swarm Optimization (PSO) that used to control the speed of the PMDC motor. According to the results that appeared in the simulations in the MATLAB\Simulink software, STSMC has superiority compared to other controllers in improving the performance of the speed control for PMDC motors. An experimental setup for PMDC motor by proposed controllers to validate the simulated results in the real environment based on the Arduino UNO interface device. Experimental results confirmed the advantages of employing the STSMC technique over other controllers in improving the performance of speed control for PMDC motors to attain the required speed in the least amount of time and rapid rejection of disturbances in the load.