fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TASC.2016.2611623, IEEE
Transactions on Applied Superconductivity
Abstract—This paper introduces a sliding mode control (SMC) control (NTSMC), which is insensitive to parameter variations
scheme to solve time-varying parameters and disturbances for and disturbances. NTSMC not only has advantages in fast
permanent magnet synchronous motor (PMSM) drive system. A dynamic response, finite time convergence, and high control
new speed controller is designed by the nonsingular terminal
sliding mode control (NTSMC) strategy with the disturbance precision, but also can eliminate the paranormal phenomenon
observer (DOB). The controller can make the motor speed reach of control system [14]-[15].
the reference value in finite time, accompanying with a faster As the upper bound of lumped disturbances is not easy to be
convergence and a better tracking precision. Considering the determined, which could worsen the chattering phenomenon of
time-varying characteristic and the high-bandwidth property of SMC strategy in PMSM system [16]-[18]. Introducing
the uncertainties and disturbances in a practical PMSM drive feedforward compensate technology into controller is one
system, the common SMC method needs to provide large gain to
restrain disturbance with large chattering. A DOB is introduced efficient way of improving system performance. Feedforward
as a compensator to resist disturbance and to reduce control compensation helps to select smaller value for the switching
gains. By applying a disturbance observer as the feed-forward gain of NTSMC and reduce chattering [18]-[20]. Thus, if
compensator and the NTSMC as the feedback controller, one disturbance are observed and given feed-forward compensation
new composite NTSMC (CNTSMC) scheme has been proposed based on the observed value, and the switching gain required
for the speed control of PMSM under disturbances and just needs to be larger than the upper bound of the disturbance
uncertainties with small chattering since smaller switching gain
are required by the proposed scheme. The validity and compensation error [21]-[23]. Using the disturbance observer
robustness of the scheme are fully verified by comprehensive (DOB), the system chattering will be reduced effectively, and it
simulations and experiments. can obtain faster speed responses and smaller ripple in the
presence of time varying load.
Keywords—Composite nonsingular terminal sliding mode A speed controller based on NTSMC in combination with a
control (CNTSMC), permanent magnet synchronous motors disturbance observer is designed in this paper [24]-[25]. Finally,
(PMSMs), disturbance observer (DOB), speed regulation, vector a new composite nonsingular terminal sliding mode control
control.
(CNTSMC) scheme is developed for the PMSM drive system.
Simulation and experiment results demonstrate the new control
I. INTRODUCTION
method has excellent robustness and dynamic response ability.
L q
L L q q
Manuscript received January 05 , 2016. This work has been supported by 1.5n B T
National Natural Science Foundation (No. 51377065, 61301035, 61304086 iq
p f l
1051-8223 (c) 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TASC.2016.2611623, IEEE
Transactions on Applied Superconductivity
of pole pairs, f the flux linkage, Tl the load torque, B the iq* PI
uq*
viscous friction coefficient, and J the moment of inertia. id Ld
From (1), the relationship between the angular velocity
and q-axis current iq can be written as iq Lq
ud*
1.5n p f B T id*
iq l (2) PI
J J J Fig. 2. The diagram of current feedforward decoupling
Applying Laplace transformation to (1), it can be reasonably A. Design of Sliding Mode Controller for PMSM Speed
given as Modulation
1 kf k
U (1 i )iq* (3) For the speed regulation control of PMSM, the sliding mode
s J kps variable v is designed as the function of regulation error,
Then it can obtain a second order angular velocity model by denoted as e * , where * is the reference angular
Bk k J kB k T kT velocity, and the real angular velocity. Thus, the states of
U p i i f uq l i l (4)
kp J kp J kp J kp J kp J PMSM speed error system are x1 e and x2 e . The dynamic
where k f 1.5n p f , k p and ki are the proportional and equation of the PMSM system is obtained as
x1 x2
integral gains of PI controller in the current loop of iq , and the
Bk p ki J (8)
x2 k p J k p J d (t ) U
* ki B
reference current is iq* .
In order to make simplification, it is defined that The NTSM variable is defined as
kf T kT 1
d (t ) uq l i l v x1 x2p q (9)
(5)
kp J kp J kp J
where is a positive constant, p and q odd number,
Eq. (5) is considered as uncertainties and disturbances.
Combining (4) and (5), then it will get 0 q p . By combining (8) and (9), it will get the full
Bk k J kB expression for the NTSM controller, as written by
U p i i d (t ) (6) k q
kp J kp J U * i * x22 p q ksat (v) (10)
kp p
The speed regulation of PMSM system is based on vector
control theory. In order to approximately eliminate the The design diagram of speed controller is shown in Fig. 3, in
coupling between the angular velocity and stator currents, the which the generalized plant represents the two current loops
d-axis reference current id* is set as 0. Fig. 1 shows the typical including PMSM and other components.
vector control structure for PMSM system, in which the current
and speed control loops are decoupled. * U kp J
SMC Generalized
*
iq* uq* u Controller k f ( k p s ki ) Plant
Speed
Controller
PI
Inverse
iq IGBT
PMSM
*
Park PWM
Inverter
id ud* Transform u
0 PI
id
Sensor
i ia Fig. 3. The NTSMC scheme of PMSM system.
Park Cark
i ib
Transform Transform
Generalized Plant B. Disturbance Observer and Disturbance Compensation for
Sensor PMSM System
Fig. 1. The CNTSMC control diagram of PMSM system. The SMC is essentially a kind of switching control, which
uses discontinuous terms to restrict the impact from external
III. COMPOSITE NTSMC ALGORITHM FOR PMSM SYSTEM disturbances and parameter variations. In general, the required
Using the description in (1), the voltage equations can be switching gain value must be larger than the upper bound of
presented in the d-q reference frame, as given by the lumped disturbances. Thus, if disturbances are observed
dLd and then are feed-forward compensated, the required switching
ud ( Rs dt )id Lq iq gain just needs to be larger than the upper bound of the
(7) disturbance compensation error, which is usually much smaller
u ( R dLq )i L i
q s
dt
q d d than that of the lumped disturbance, such that the system
In order to achieve more precise control for PMSM, the chattering will be reduced effectively.
current feedforward decoupling is adapted to the CNTSMC as For a continuous function x(t ) , if it is ( n 1)th differential
shown in Fig 2. and zero input noises, the exact finite time observer for
x(t ) , x (t ) , , x ( n ) (t ) can be established as
1051-8223 (c) 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TASC.2016.2611623, IEEE
Transactions on Applied Superconductivity
... (11) speed is given as * 180 14 * e 50( t 0.5) 1 20 * e 50( t 0.8) 1 rad/s,
1 1 and torque Te 4sin(8t ) Nm. The angular velocity and torque
zn 1 vn 1 , vn 1 n 1 K zn 1 vn 2 sgn( zn 1 vn 2 ) zm
2 2
z K sgn( z v ) are time varying simultaneously, which can simulate the time-
p n n n 1
varying nature and the uncertainties in a practical PMSM drive
with enough large parameters i , i 0, , n , z0 , z1 , zn can system. Simulations about the CNTSMC and NTSMC schemes
of PMSM system have been done as shown in Figs. 5 and 6,
converge to x(t ), x (t ), , x ( n ) (t ) in finite time. A second order respectively.
finite time disturbance observer can be further developed from
(11), as described by
Bk k J kB
z0 v0 k J ( x2 ) U k J
* p * i i
p p
v K 13 z x 23 sgn( z x ) z
0 0 0 2 0 2 1
Fig. 5. Speed response under the NTSMC/CNTSMC method.
z1 v1 (12)
1 1
As shown in Fig. 5, the black dot curve describes the
v1 1 K z1 v0 sgn( z1 v0 ) z2
2 2
0 0 0 0 1
1 1
2 2 K sgn( 2 1 ) K , K
The design for disturbance observer is here completed, and
(a)
its specific stability analysis can refer to [24]-[25]. The
composite control scheme of PMSM system is shown in Fig. 4,
where D̂ is the compensation produced by DOB.
* Sliding mode U Generalized
controller (3) (10). Plant
D̂ (b)
Disturbance
observer (12).
Fig. 4. CNTSMC scheme based on NTSMC and DOB.
and main parameters of PMSM are summarized in Table I. stator current. (c). q-axis reference stator current.
1051-8223 (c) 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TASC.2016.2611623, IEEE
Transactions on Applied Superconductivity
little chattering. Fig. 6 (c) gives out the q-axis reference stator
current, which is the output of speed controller. Compared with
NTSMC, the output of CNTSMC is smaller, and fluctuates
around zero, which indicates that the control effects are
excellent. The output of NTSMC is larger, but the tracking
response for q-axis current is a little weak. Hence, by careful
investigation and analysis, it is known the CNTSMC method
has better robustness ability when angular velocity and torque
are time varying simultaneously.
B. Experimental Verification
Relevant experiments have be done in TMS320F28335
digital control board, and the experimental bench is shown in
Fig. 7.
In order to verify dynamic performance of CNTSMC, the Fig. 9. Dynamic performance based on CNTSMC with changing speed
commanded. (a) d- and q- axis current. (b) Speed. (c) Phase current.
first experiment has presented the control performance of
CNTSMC with the load change of 14.3 Nm under the 500 The steady state d-axis current responses of the second
r/min speed. Fig. 8 shows the dynamic performance of d and q experiment are shown in Fig. 10. Compared with NTSMC, the
axis current response based on CNTSMC system. It can be chattering of current based on CNTSMC is reduced obviously.
noted that the current response of CNTSMC system is more
quickly, and its ripple is smaller.
Fig. 10. Steady state d- axis current comparison of CNTSMC and NTSMC.
Fig. 8. Current performance by adding and lightening load based on CNTSMC
with 500 r/min commanded under step load torque.
V. CONCLUSIONS
The second experiment is coincided with the simulation
In this paper, one new CNTSMC has been proposed for the
results, where the speed of PMSM starting from 500 r/min, is
PMSM drive system. The CNTSMC can estimate the
reduced to 450 r/min, and then increased to 550 r/min. Due to
disturbances so that the composite speed controller can have a
limitations of the experimental conditions, the added load
corresponding part to compensate and reduce chattering
initial value is 10 Nm. The dynamic performance based on
simultaneously. NTSMC strategy has been introduced in the
CNTSMC and NTSMC with changing speed commanded is
speed controller design to improve the dynamic response of
shown in Fig. 2. Firstly, the d and q axis current response is
closed loop system. Through disturbance estimation of DOB
shown in Fig. 2 (a), which illustrate the quick response and low
for feed-forward compensation, the switching gain is reduced
ripple of CNTSMC fully. Secondly, the speed response about
without sacrificing disturbance rejection performance.
CNTSMC and NTSMC is shown in Fig. 2 (b). As from this
Experiments verify with simulations and relative theoretical
figure, it is noted that CNTSMC with less than 20 r/min
investigation, which demonstrate excellent parameter
overshoot can track its command very well, while the NTSMC
robustness of the new CNTSMC. The control performance of
suffers a bigger overshoot, 40 r/min, and its response is much
new CNTSMC is excellent while the selection of parameters in
slower. Furthermore, the ripple and chattering of CNTSMC
controllers and observers are a little complex and time
have been reduced efficiently in comparison with those of
consumption. In next step, more simplified methods based on
NTSMC, e.g., the speed ripple of CNTSMC is almost 20% of
the new CNTSMC should be further investigated, which could
that of NTSMC. Thirdly, Fig. 2 (c) shows the ideal a-phase
decrease the implementation time, and meanwhile reduce
current of CNTSMC. The real speed curve of CNTSMC is very
chattering and disturbance rejection simultaneously.
good, and speed error is not more than 1.0 rpm.
1051-8223 (c) 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TASC.2016.2611623, IEEE
Transactions on Applied Superconductivity
1051-8223 (c) 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.