Design and Application of Sliding Mode Controller in PMSM Position Tracking Control Based on Adaptive Backstepping

Abstract

A position tracking control method of permanent magnet synchronous motor (PMSM) is presented based on sliding mode control (SMC) and adaptive backstepping method. The adaptive backstepping controller is proposed for PMSM position loop and speed loop control. A adaptive backstepping observer is adopted to estimate the load torque. Regarding the current control of PMSM, the sliding mode controller with a novel sliding-mode exponential reaching law is presented. Finally, the stability of the entire system is verified by Lyapunov theory. The results of the experiment demonstrate that the proposed control algorithm achieves desirable position tracking property as well as good load disturbance attenuation.