Fast Terminal Sliding Mode Current Control With Adaptive Extended State Disturbance Observer for PMSM System

Abstract

This article proposes a current decoupling control strategy by combining a fast terminal sliding mode control (FTSMC) and an adaptive extended state observer (AESO). First, the voltage errors and external disturbances caused by <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$d$ </tex-math></inline-formula> – <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$q$ </tex-math></inline-formula> -axis current coupling and motor parameter variations are regarded as the lumped disturbance of the system, which facilitates the decoupling of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$d$ </tex-math></inline-formula> – <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$q$ </tex-math></inline-formula> -axis currents. Next, an equivalent control-based FTSMC strategy is used to track the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$d$ </tex-math></inline-formula> – <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$q$ </tex-math></inline-formula> -axis currents to obtain the proper <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$d$ </tex-math></inline-formula> – <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$q$ </tex-math></inline-formula> -axis voltages and improve the current dynamic performance. Then, the AESO method is utilized to observe the lumped disturbance and compensate for the input signal. Afterward, the FTSMC and AESO algorithms are combined to obtain the appropriate current and voltage signals in the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$d$ </tex-math></inline-formula> – <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$q$ </tex-math></inline-formula> -axis. Finally, simulation and experimental results show that the proposed method not only achieves complete decoupling of the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$d$ </tex-math></inline-formula> – <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$q$ </tex-math></inline-formula> -axis currents, but also has good performance in terms of dynamic response, steady-state accuracy, and robustness.