Disturbance-Observer-Based Complementary Sliding-Mode Speed Control for PMSM Drives: A Super-Twisting Sliding-Mode Observer-Based Approach

Abstract

This article proposes a novel disturbance-observer-based complementary sliding-mode (DO-CSM) speed controller for the field-oriented controlled permanent-magnet synchronous motor (FOC-PMSM) drive system. At first, the rotor speed dynamics of the PMSM drive system considering the lumped disturbance, which consists of external disturbances, parametric uncertainties, and unmodeled dynamics, is presented. Then, the classic CSM speed controller and a typical artificial neural network (ANN)-based CSM speed controller, i.e., the Elman NN (ENN)-based intelligent CSM (ENN-ICSM) speed controller for the FOC-PMSM drive system, are reviewed. Afterward, the design of the proposed DO-CSM speed controller, which combines the signum-function-based CSM controller with the super-twisting sliding-mode observer (STSMO), is presented. In such a speed controller, the rotor speed tracking control is accomplished by the adopted CSM controller, whereas the STSMO is employed to estimate and compensate for the lumped disturbance in the rotor speed dynamics. Finally, experimental comparisons among the proposed DO-CSM speed controller, the classic CSM speed controller, and three selected ENN-ICSM speed controllers are carried out. Experimental results verify the effectiveness and superiority of the proposed DO-CSM speed controller.