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Smooth switching mechanism-based adaptive integral terminal SMC for PMSM servo system with stator voltage saturation and unknown disturbances |
XiangxiangMeng1,HaishengYu1,JieZhang1,QingYang1 |
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(1 School of Automation, Qingdao University, Ningxia Road No. 308, Qingdao, 266071, Shandong, China) |
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摘要: |
This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor (PMSM) with stator voltage saturation and unknown load. A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control (SMC) strategy. The control design consists of compensation control and nominal control, which improves the rapidity and accuracy of trajectory tracking. The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon. Additionally, to deal with the adverse effects of various unknown disturbances, including model parameter uncertainties and unknown external load disturbances, an improved disturbance observer (DO) is proposed. This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system. Finally, the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances. |
关键词: Smooth switching mechanism · Integral terminal SMC · PMSM servo system · Disturbance suppression · Stator voltage saturation |
DOI:https://doi.org/10.1007/s11768-025-00249-7 |
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基金项目:This work was supported by the National Natural Science Foundation under Grant 62273189, the Shandong Province Natural Science Foundation under Grant ZR2021MF005, and Systems Science Plus Joint Research Program of Qingdao University under Grant XT2024201 of China supporting this research work. |
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Smooth switching mechanism-based adaptive integral terminal SMC for PMSM servo system with stator voltage saturation and unknown disturbances |
Xiangxiang Meng1,Haisheng Yu1,Jie Zhang1,Qing Yang1 |
(1 School of Automation, Qingdao University, Ningxia Road No. 308, Qingdao, 266071, Shandong, China) |
Abstract: |
This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor (PMSM) with stator voltage saturation and unknown load. A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control (SMC) strategy. The control design consists of compensation control and nominal control, which improves the rapidity and accuracy of trajectory tracking. The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon. Additionally, to deal with the adverse effects of various unknown disturbances, including model parameter uncertainties and unknown external load disturbances, an improved disturbance observer (DO) is proposed. This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system. Finally, the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances. |
Key words: Smooth switching mechanism · Integral terminal SMC · PMSM servo system · Disturbance suppression · Stator voltage saturation |