Adaptive Super-Twisting Sliding Mode Control With Disturbance Compensation for Speed Regulation of PMSM System

Abstract

To improve the dynamic performance and disturbance rejection capability of the permanent magnet synchronous motor (PMSM) system, an adaptive super-twisting nonsingular terminal sliding mode control (AST-NTSMC) approach based on the disturbance compensation technique is investigated in this letter. Firstly, the dynamic model of PMSM system under non-cascade structure is formulated, and two high-order sliding mode observers (HOSMOs) are designed to estimate and compensate for both matched and mismatched disturbances within the system. A composite non-cascade speed controller is subsequently developed. While a larger switching gain coefficient can enhance dynamic performance and disturbance rejection ability, it often tends to increase chattering issues. To tackle this challenge, an adaptive mechanism is proposed for the PMSM speed regulation system, allowing dynamic adjustment of the gain coefficient during the sliding mode reaching phase, which significantly enhances both dynamic and steady-state performance compared to the conventional NTSMC method. Experimental results validate the effectiveness of the proposed control approach.