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2020, Volume 21, Issue 8

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Frontiers of Information Technology & Electronic Engineering >> 2020, Volume 21, Issue 8 doi: 10.1631/FITEE.1900298

A fast integral sliding mode controller with an extended state observer for position control of permanent magnet synchronous motor servo systems

Affiliation(s): State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China; Zhejiang Province Key Laboratory of Advanced Manufacturing Technology, Zhejiang University, Hangzhou 310027, China; Northwest Institute of Mechanical and Electrical Engineering, Xianyang 712099, China; Beijing Linkstech Technology Co., Ltd, Beijing 102200, China; less

Received: 2019-06-14 Accepted: 2020-08-07 Available online: 2020-08-07
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Abstract

has been widely used in position control applications. Its performance is not satisfactory due to internal uncertainties and external load disturbances. To enhance the control performance of PMSM systems, a new method that has fast response and good robustness is proposed in this study. First, a modified integral terminal is developed, which has a fast-sliding surface and a continuous reaching law. Then, an is applied to measure the internal and external disturbances. Therefore, the disturbances can be compensated for in a feedforward manner. Compared with other sliding mode methods, the proposed method has faster response and better robustness against system disturbances. In addition, the position tracking error can converge to zero in a finite time. Simulation and experimental results reveal that the proposed control method has fast response and good robustness, and enables high-precision control.

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