Adaptive Backstepping Sliding Mode Control for PMSM System Based on Nonlinear Disturbance Observer
This paper presents an adaptive backstepping sliding mode position tracking control method based on a nonlinear disturbance observer for the control problem of permanent magnet synchronous motor(PMSM)system with load torque fluctuations and system parameter changes.An adaptive backstepping sliding mode controller was first designed to ensure rapid convergence of the motor position to the desired value.An adaptive convergence gain is also designed to reduce large overshoots under motor position re-sponse.Then,a non-linear disturbance observer is designed to estimate unknown disturbances and provide feed-forward compensation for adaptive backstepping sliding mode control to improve system robustness and reduce steady-state position errors.Simulation results show that the method achieves good fast position tracking control of the PMSM system with good anti-disturbance performance.
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