Speed control of SPMSM based on super-twisting sliding mode switching active disturbance rejection control

Abstract

Switching active disturbance rejection control (SADRC) features a strong disturbance rejection capability and can be applied to speed control systems of permanent magnet synchronous motors. However, frequent switching of control modes in SADRC tends to cause fluctuations in motor speed. To address this issue, this paper proposes a composite control strategy that combines super twisting sliding mode control with switching active disturbance rejection control (STSM-SADRC). This strategy uses the STSM algorithm optimized by the hyperbolic tangent tanh function into both the extended state observer (ESO) and the state error feedback (SEF) of SADRC. The continuous and smooth property of tanh is adopted to replace the sign function, which suppresses the inherent chattering of the sliding mode while retaining the advantages of SADRC. The stability of the control algorithm is proved by the Lyapunov theorem. Simulation results show that it helps improve the tracking accuracy and disturbance rejection capability of the PMSM speed control system.