Permanent Magnet Synchronous Motor Control Based on Adaptive Reaching Law

In order to improve the speed control performance of permanent magnet synchronous motor (PMSM) under disturbance, an adaptive reaching law sliding mode control (ASMC) is proposed. The objectives are to accelerate the control stabilization time and reduce chattering in speed control. Based on Lyapunov stability theory, the effectiveness of the scheme is proven. Based on the traditional index reaching law (T_SMRL), the adaptive sliding mode reaching law (ASMRL) introduces the adaptive adjustment terms of chattering, system state, and reaching speed, and uses hyperbolic tangent function instead of sign function. The effectiveness of the ASMRL is proved by theoretical analysis and numerical simulation. Compared with the T_SMRL and improved sliding mode control (I_SMC), the convergence is 33% faster and the chattering is 30% less. In addition, based on the ASMRL, the motor speed control system is established. An extended state observer (ESO) is designed in the surface PMSM (SPMSM) control system. It is used to estimate the disturbance and compensate the disturbance to the sliding mode control (SMC). The simulation results show that compared with three methods, the ASMC+ESO has faster convergence speed and better anti-disturbance performance.