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International Journal of Innovative

Computing, Information and Control


Volume 7, Number 4, April 2011

c
ICIC International 2011
ISSN 1349-4198
pp. 19711982

IMPROVED INTEGRAL SLIDING MODE CONTROL METHODS


FOR SPEED CONTROL OF PMSM SYSTEM
Cunjian Xia, Xiaocui Wang, Shihua Li and Xisong Chen
School of Automation
Key Laboratory of Measurement and Control of CSE, Ministry of Education
Southeast University
No. 2, Sipailou, Nanjing 210096, P. R. China
lsh@seu.edu.cn

Received December 2009; revised April 2010


Abstract. To improve the disturbance rejection property of permanent magnet synchronous motor (PMSM) speed control system, the integral sliding mode control (ISMC)
method is introduced in the control design of speed loop. However, the simulation and
implementation results show that it is dicult to balance the chattering and the antidisturbance capacity. To this end, three kinds of improved ISMC control methods are
developed. First, ISMC using linear varying gain is developed. Using this method, the
switching gain of ISMC controller can be smaller while still ensuring that the speed state
reaches its steady state and the steady state fluctuations can thus be reduced. Moreover,
the anti-disturbance capacity of the PMSM system can also be assured. Second, an integral sliding mode control based on extended state observer (ESO) is developed. ESO
can estimate both of the states and the disturbances simultaneously. By using ESO, an
estimate of the lumped disturbances is obtained, which is employed for the feedforward
compensation design of the composite ISMC control law. In this case, the controller may
take a smaller value for the switching gain without sacrificing disturbance rejection performance, which helps to reduce large chattering caused by high control gains. Third, an
adaptive composite control method combining linear varying gain and ESO is developed
to take advantages of both improved methods. These improved methods show advantages
in reducing the chattering while ensuring the dynamic and disturbance rejection performance. Both of simulation and experiment results are provided.
Keywords: PMSM, Integral sliding mode control, Extended state observer, Linear
varying gain, Composite control, Speed-regulation

1. Introduction. Permanent magnet synchronous motor has gained widespread acceptance in numerical control machine tools, robots, aviation and so on, due to its excellent
features such as high power density, torque-to-current ratio and eciency [1]. Linear control schemes such as proportional-integral (PI) control scheme have been widely used in
PMSM servo system because of simple implementation [2]. However, it is very dicult to
achieve a satisfactory performance in the entire operating rage by only using linear control
methods. The reason is that the PMSM servo system is a nonlinear system with unavoidable and unmeasured disturbances as well as parameters variations [3, 4, 5]. Thus, various
methods of nonlinear control methods have been developed for PMSM system, such as
adaptive control [6, 7], robust control [8], sliding mode control [9], input-output linearization control [4], backstepping control [10], neural network control [5], fuzzy control [11]
and finite-time control [12], etc.
Sliding mode control (SMC) is a very useful nonlinear control method [13, 14, 15] and
it has been introduced in AC servo drive systems [16, 17] due to its good robustness
for external disturbances and variations of system parameters, fast response and easy
1971

1972

C. XIA, X. WANG, S. LI AND X. CHEN

implementation. Under the framework of vector control and cascade structure, in the
control design for speed loop, usually a first-order model is used to approximately describe
the relationship between the reference quadrature axis current and the speed output. To
construct a common sliding surface, the sliding-mode speed controller needs both the
speed and the acceleration signals [16, 18]. However, due to noise and uncertainties of
parameters, acceleration signals are dicult to be measured or to be estimated accurately
[19]. These degrades the closed loop performance of system. To this end, integral sliding
mode control (ISMC) method is proposed [20] and applied in asynchronous motor [21].
The acceleration information is not required anymore.
In this paper, a standard ISMC method is developed for the speed control of PMSM
system. However, the simulation and implementation results of the standard ISMC
method on PMSM system show that it is dicult to balance the chattering and the
anti-disturbance capacity. The anti-disturbance performance of the system mainly depends on the switching gain. While it is tuned to a small value, the motor speed can not
recover to its reference value when the load disturbance is added. When the switching
gain is increased, the anti-disturbance capacity of closed loop system becomes better.
However, in this case, the closed loop system produces a greater chattering.
According to the SMC theory, if the switching control gain is selected to be bigger
than the upper bound of disturbances, the disturbances can be well rejected. However,
for practical applications, the bound of disturbances is dicult to obtain which often
results in an inadequate selection of switching gain. Usually, an overlarge switching gain
causes a large chattering. To this end, three improved ISMC methods are proposed to
improve the performance of servo system. The main idea is to find some ways to reduce
the conservativeness of selecting switching control gain.
First, an improved ISMC method based on linear varying gain is used. The switching
gain linearly varies at dierent stages. It takes a larger value when the states are far away
from the sliding surface (e.g., at the starting stage), so the dynamic response time of state
can be ensured. When the state approaches the sliding surface including its steady state,
the switching gain takes a smaller value which helps to reduce the steady state chattering
of system. Meanwhile, the anti-disturbance capacity can still be assured.
Second, an improved method employs a disturbance estimation technique to have an
adequate estimate for the lumped disturbances of PMSM system. Then, after disturbance compensation based on ESO, the switching gain only need to be taken bigger
than the bound of the disturbance compensation error, which is usually much smaller.
Thus, an ISMC method based on extended state observer (ESO), named ISMC+ESO
method, is developed. An ESO in the feedback path provides estimates of both the
speed and the lumped disturbances. The estimate of the lumped disturbances is employed for feedforward compensation design of the control law. In [9], a total sliding
mode controller is proposed for the position control problem of PMSM system, where a
recurrent-fuzzy-neural-network is adopted as a bound observer to facilitate adaptive control gain adjustment. Compared with that technique, the ESO technique is very simple
for implementation.
Third, to further enhance the performance, an adaptive ISMC method based on ESO,
named adaptive ISMC+ESO method, is developed. The eectiveness of the proposed
three improved schemes is verified and compared by simulation and experiment results.

INTEGRAL SLIDING MODE CONTROL METHODS FOR PMSM SYSTEM

1973

Figure 1. The diagram of PMSM system


2. The Mathematical Model of PMSM. The model of surface mounted PMSM is
expressed in d q coordinates as follows [27]:


ud
s
R
n

0
id
p
id
Ld
Ld
uq
np f
R
i q =
(1)
np Lqs Lq iq + Lq
T
3n

L
p
f
B

J
0

2J

where Rs the stator resistance, ud , uq the d- and q- axes stator voltages, id , iq the d- and
q- axes stator currents, Ld , Lq the d- and q- axes stator inductances Ld = Lq = L, np
the number of pole pairs, the rotor angular velocity, f the flux linkage, TL the load
torque, B the viscous friction coecient, J the rotor inertia.
The general structure of the PMSM servo system is shown in Figure 1. The overall
system consists of a PMSM with load, space vector pulse width modulation (SVPWM),
voltage-source inverter (VSI), field-orientation mechanism and three controllers. The
controllers employ a structure of cascade control loop including a speed loop and two
current loops. Here two PI controllers, which are used to stabilize the d q axes current
errors of the vector controlled drive, are adopted in the two current loops respectively.
As it can be seen from Figure 1, the rotor angular velocity can be obtained from the
position and speed sensor. The currents id and iq can be calculated from ia and ib (which
can be obtained from measurements) by Clarke and Park transforms.
3. Control Strategy of PMSM Speed-Regulation System.
3.1. The standard integral sliding mode controller. The torque equation of PMSM
system can be written as
1.5np f iq B TL
3np f
=
=
i + a(t)
(2)
J
2J q
)
)
(
(
where a(t) = 1.5np f iq iq B TL /J is the lumped disturbances of system.
Define the speed error e = where is reference speed. Taking the derivative
of e and substituting (2) into it, yields:
3np f
(3)
i a(t).
e =
2J q
The sliding surface is designed as
t
3np f
s=e+
m
ed.
(4)
2J
0
And the speed controller can be designed as
iq = me + f sgn(s) + (2J/(3np f ))
where m, f > 0, and sgn() is the standard signum function.

(5)

1974

C. XIA, X. WANG, S. LI AND X. CHEN

Figure 2. Speed response of


system under ISMC scheme

Figure 3. Speed response of


system with disturbance under
ISMC scheme

Assumption 3.1. The lumped disturbances of system a(t) satisfies 0 |a(t)| < l.
Theorem 3.1. Assume that system (1) satisfies Assumption 3.1. Under the control law
(5), the speed error of system (1) converges to zero if f > 3n2Jl
.
p f
Proof: Choosing Lyapunov function V = 12 s2 , and taking the derivative of it along
system (3), yields:
[
]
3n

p
f
V = ss = s e +
me .
(6)
2J
Substituting (3) into (6) yields:
[
]
3n

2J
2J
p
f

V = ss =
s iq +
a(t) me
.
(7)
2J
3np f
3np f
Substituting (5) into (7) yields:

[
]
3n

2J
p
f
V = ss =
f |s| +
a(t)s .
2J
3np f

From Assumption 3.1, if f >

(8)

2Jl
,
3np f

one obtains
(
)
3n

2J
p
f
V
|s| f
l < 0 (s = 0)
2J
3np f

(9)

So the control law (5) makes (4) converge to zero in finite time. When the speed
t
3np f
error reaches its sliding surface, i.e., s = e + 2J
m 0 ed = 0, which implies that
e = (3np f /(2J))me. Thus, the speed error will converge to zero. The theorem is
proved.
3.2. Simulation results and experiment results. Here, the parameters of the PMSM
are: the resistance of stator Rs = 0.8, the inductances of d and q axes Ld = Lq =
2.9 103 H, the flux of rotor f = 0.2wb, the rotor inertia J = 6.5 104 kg m2 , the
viscous friction coecient B = 1.28 104 n m s, the number of poles np = 4.
3.2.1. Simulation results. The speed regulation system of the PMSM is simulated by
MATLAB. The parameters of the integral sliding mode controller are m = 0.8, f = 10.
The reference speed is 1000rpm, and the load torque TL = 4N m is added at t = 1s.
The speed response of the PMSM speed-regulation system is shown in Figure 2. Figure
2 shows that when the ISMC scheme is used, a speed response with no overshoot is
obtained. Figure 3 shows the anti-disturbance property of system when a load disturbance

INTEGRAL SLIDING MODE CONTROL METHODS FOR PMSM SYSTEM

1975

Figure 4. Speed response of system under ISMC method

Figure 5. Speed response of


system with disturbance under
ISMC method with a smaller
gain

Figure 6. Speed response of


system with disturbance under
ISMC method with a larger
gain

is added. It shows that the speed response of the system used ISMC scheme has an obvious
chattering and the anti-disturbance capacity is not satisfactory.
3.2.2. Experiment results. As for the experimental test setup, the whole speed control
algorithms is implemented by the program of the DSP TMS320F2808 with a clock frequency of 100MHZ. The PMSM is driven by a three-phase PWM inverter with an IPM
with a switching frequency of 10kHz. The phase currents are measured by the Hall-eect
devices and are converted through two 12-bit A/D converters. An incremental position
encoder of 2500 lines is used to measure the rotor speed and absolute rotor position. The
parameters of the ISMC are m = 1200, f = 18. The reference speed is 1000rpm.
The speed response of the closed loop system under ISMC scheme is shown in Figure 4.
The speed responses under dierent switching gains are shown in Figures 5 and 6 when
a step load disturbance of TL = 2N m is added. The anti-disturbance performance of the
system mainly depends on the switching gain f and m, here m is selected to be m = 1200.
When f is tuned to a small value, e.g., f = 18, the motor speed can not recover to its
reference value when the load disturbance is added and the performance of disturbance
rejection is worse, as shown in Figure 5. Usually, it is expected that when the switching
gain is increased, the anti-disturbance capacity of closed loop system may become better.
As shown in Figure 6, when f is tuned to a larger value, e.g., f = 80, the speed response
can recover to its reference value. However, in this case, the system produces a greater
chattering. Through parameters tuning of control gain f for many times, we find that it is
very dicult to have a good balance between disturbance rejection and chattering under
the standard ISMC method. In fact, this phenomena of the ISMC method has already
been mentioned in [28] for synchronous reluctance motor drive system.

1976

C. XIA, X. WANG, S. LI AND X. CHEN

4. The Integral Sliding Mode Controller with Linear Varying Gain.


4.1. Design of controller. The torque equation of PMSM system is written as (2). And
the sliding surface is designed as (4). The speed controller can be designed as:
iq = me + fsgn(s) +

2J

3np f

(10)

where the state feedback gain m > 0 and f is the linear varying switching gain. Here,
and c1 , c2 can be changed.
f = c1 + |s|
c2
Theorem 4.1. Assume that system (1) satisfies Assumption 3.1. Under the control law
(10), the speed error of system (1) converges to zero if c1 > 3n2Jl
.
p f
Proof: Choosing Lyapunov function V = 12 s2 , and taking the derivative of it along
system (3), yields (6). Substituting (3) into (6) yields:
]
[
3np f
2J
2J

V = ss =
s iq +
a(t) me
.
(11)
2J
3np f
3np f
Substituting (10) into (11) yields:

[
]
2
3n

|s|
2J
p
f
V = ss =
c1 |s| +
+
a(t)s .
2J
c2
3np f

From Assumption 3.1, one obtains


3np f
V
2J

[(

)
]
2J
|s|2
c1
l |s| +
.
3np f
c2

(12)

(13)

If c1 > 3n2J
l, V = ss 0. So the control law (10) can make the sliding surface (4)
p f
converge to zero in finite time. When the speed error reaches its sliding surface, i.e.,
3np f
me, it converges to zero. The theorem is proved.
e = 2J
4.2. Simulation and experiment results.
4.2.1. Simulation results. The parameters of the integral sliding mode controller are m =
0.8, f = 10 and the parameters of the integral sliding mode controller with linear varying
gain are m = 0.65, c1 = 5, c2 = 40. The reference speed is 1000rpm, and the load
torque TL = 4N m is added at t = 1s. The speed responses of system are shown in
Figure 7. Figure 7 shows that the rising time of the ISMC method is almost the same as
that of ISMC method with linear varying gain. Figure 8 is the anti-disturbance capacity
comparison of the system used two dierent controllers. And the result shows that the
speed response of ISMC with linear varying gain has less chattering when the system is
at its steady state and has better anti-disturbance capacity when the same disturbance
load is added.
4.2.2. Experiment results. The parameters of the ISMC are m = 1200, f = 18 and the
parameters of the ISMC with linear varying gain are m = 850, c1 = 18, c2 = 100. The
reference speed is 1000rpm. The step responses of the ISMC and ISMC with linear varying
gain are shown in Figure 9. It shows that the rising time of the ISMC with linear varying
gain is a little longer than the rising time of the ISMC and its overshoot is a little bigger.
From Figure 10, when load disturbance is added, the speed can return to the reference
speed in short time and the maximum speed fluctuations of the closed loop system under
ISMC with linear varying gain control method is only about 30rpm, much smaller than
that of standard ISMC method. As the switching gain is smaller than that of standard

INTEGRAL SLIDING MODE CONTROL METHODS FOR PMSM SYSTEM

Figure 7. Speed responses of


system under ISMC and ISMC
with linear varying gain

Figure 8. Speed responses of


system with disturbance under
ISMC and ISMC with linear
varying gain

Figure 9. Speed responses of


system under ISMC and ISMC
with linear varying gain

Figure 10. Speed responses


of system with disturbance under the ISMC with linear varying gain

1977

ISMC method, so the steady fluctuations of the servo system is also reduced. And the
anti-disturbance capacity and the performance of the system are improved.
5. ESO-based Composite Control Strategy.
5.1. Design of controller. Here, a kind of disturbance observer techniques is employed
to have an adequate estimate for the lumped disturbances of PMSM system. This technique is extended state observer [22, 23, 24]. A control frame based on ESO, called active
disturbance rejection control (ADRC) is also developed. This method has also been applied in many areas, such as robotic systems [25], machining processes [26], PMSM systems
[2, 6], and so on. The ESO regards the internal and external disturbances of the system
as the lumped disturbances, and the lumped disturbances can be considered as a new
extended state. ESO can observe and estimate the state and the lumped disturbances of
system respectively. The estimate of the lumped disturbances is employed to compensate
the disturbances through a feedforward design in the control law.
A linear ESO can be constructed as follows [29]:
3np f
(14)
i , z2 = p2 (z1 )
2J q
where z1 is an estimate of speed , z2 is an estimate of the lumped disturbances, and p
(p > 0) is the desired double-pole of ESO. The sliding surface is designed as (4). And the
z1 = z2 2p(z1 ) +

1978

C. XIA, X. WANG, S. LI AND X. CHEN

Figure 11. Speed responses


of system under ISMC and
ISMC+ESO methods

Figure 12. Speed responses


of system with disturbance under ISMC and ISMC+ESO
methods

control law can be designed as:


iq = me + f sgn(s)

2J
2J
z2 +

3np f
3np f

(15)

where the state feedback gain m > 0 and f is the switching gain, 3n2J
z2 is the feedforp f
ward component of the control law.
Here, a(t) represents disturbances of the system, z2 is the estimate of a(t) from ESO.
Assumption 5.1. Assume that a(t) z2 is bounded, which satisfies 0 |a(t) z2 | < l .
Theorem 5.1. Assume that system (1) satisfies Assumption 5.1. For PMSM speed
regulation system (1), if the switching gain f > 3n2Jl
, the speed error of system (2)
p f
converges to zero under the control law (15).
Proof: Let Lyapunov function V = 12 s2 , and the derivative of it with respect to time
is (6). Substituting (3) into (6), yields (7). And substituting (15) into (7), yields:
{
}
3n

2J
p
f
V = ss =
f |s| +
[a(t) z2 ]s .
(16)
2J
3np f
From Assumption 5.1, one obtains
3np f
V
2J

(
f

)
2J
l |s|.
3np f

(17)

, V = ss < 0 (s = 0). The control law (15) makes the state of the speed error
If f > 3n2Jl
p f
of system (2) converge to s(x) = 0 in finite time. When the speed error reaches its sliding
mode, i.e., s = 0, it will converge to zero. The theorem is proved.

5.2. Simulation and experiment results.


5.2.1. Simulation results. The parameters of the ISMC are m = 0.8, f = 10 and the
parameters of the ISMC+ESO are m = 2, f = 0.1, p = 3000. The reference speed
is 1000rpm, and the load torque TL = 4N m is added at t = 1s. Speed responses are
shown in Figure 11. Figure 11 shows that rise time of the ISMC+ESO is a little longer.
Simulation results of anti-load disturbance of the two controllers are shown in Figure
12. Figure 12 shows that speed response of the ISMC+ESO has a less chattering. And
when the same disturbance load is added, the maximum fluctuation of the ISMC+ESO
is smaller , so the PMSM speed-regulation system using the ISMC+ESO controller has a
better anti-disturbance capacity.

INTEGRAL SLIDING MODE CONTROL METHODS FOR PMSM SYSTEM

Figure 13. Speed responses


of system under ISMC and
ISMC+ESO methods

1979

Figure 14. Speed response


of system with disturbance under ISMC+ESO method

Figure 15. The diagram of adaptive ISMC+ESO scheme for PMSM system
5.2.2. Experiment results. The parameters of the ISMC controller are m = 1200, f = 18
and the parameters of the ISMC+ESO controller are m = 1050, f = 20, p = 500. And
the reference speed is 1000rpm. Comparisons of speed responses under ISMC law (5) and
ISMC+ESO law (15) respectively are shown in Figure 13. The rising time of ISMC+ESO
is a little longer and its overshoot is a little bigger. The speed responses of ISMC+ESO
with disturbance load is shown in Figure 14. It can be seen that the maximum speed
fluctuation of the closed loop system under ISMC+ESO control method is only about
25rpm, much smaller than that of standard ISMC method. Since the estimate of lumped
disturbances is employed for feedforward compensation design of the control law, the
performance degradation caused by disturbances is suppressed, and the closed loop system
under ISMC+ESO control method has a less chattering, and a better anti-disturbance
capacity.
6. Adaptive ESO-based Composite Control Strategy.
6.1. Design of controller. In this section, an adaptive ESO-based composite controller
is proposed. Here, the switching gain is changed with the variations of the speed error.
As same as Section 5.1, ESO is used to estimate the lumped disturbances of PMSM
system. Then, the estimate value of lumped disturbances is employed for feedforward
compensation design of the control law. Here, the linear ESO is designed as (14), the
sliding surface is designed as (4). And the speed controller can be designed as
)
(
2J
2J
|s|

sgn(s)
z2 +

(18)
iq = me + c3 +
c4
3np f
3np f
where c3 , c4 > 0 are constants, m is the feedback gain. The principle diagram of the
adaptive ESO-based composite control (Adaptive ISMC+ESO) is shown in Figure 15.
Note that the generalized plant in Figure 15 represents the two current loops which
include PMSM and other components the same as that of Figure 1.

1980

C. XIA, X. WANG, S. LI AND X. CHEN

Figure 16. Speed response


of system under ISMC+ESO
and adaptive ISMC+ESO
methods

Figure 17. Speed response


of system with disturbance under ISMC+ESO and adaptive
ISMC+ESO methods

Theorem 6.1. Assume that system (1) satisfies Assumption 5.1. For PMSM speed
, the speed error of system (1) converges
regulation system (1), if switching gain c3 > 3n2Jl
p f
to zero under the control law (18).
Proof: The proof process is a combination of that of Theorems 4.1 and 5.1, which is
omitted here.
6.2. Simulation results and experimental results.
6.2.1. Simulation results. Here, the parameters of ISMC+ESO controller are m = 2,
f = 0.1, p = 3000, and the parameters of adaptive ISMC+ESO controller are m = 2,
c3 = 0.3, c4 = 80, p = 2000. The reference speed is 1000rpm, and the load torque
TL = 4N m is added at t = 0.2s. Speed responses are shown in Figure 16. Figure 16
shows that, compared with that of ISMC+ESO method, the rising time of the system
under adaptive ISMC+ESO method is shorter although the overshoot is a little bigger.
When the same load disturbance is added, as shown in Figure 17, the maximum fluctuation
of the system using adaptive ISMC+ESO method is decreased. It shows that the antidisturbance capacity is further improved by using the adaptive ISMC+ESO method.
6.2.2. Experimental results. The parameters of ISMC+ESO controller are m = 1050,
f = 20, p = 500, and the parameters of adaptive ISMC+ESO controller are m = 1020,
c1 = 10, c2 = 100, p = 480. The reference speed is 1000rpm. From Figure 18, compared
with that of ISMC+ESO method, we can see that, the system under adaptive ISMC+ESO
method has shorter rising time and settling time although its overshoot is a little bigger.
Figure 19 shows that when the same load disturbance is added, the maximum fluctuation
of speed under the ISMC+ESO and the adaptive ISMC+ESO methods are 25rpm and
17rpm respectively. So the system using adaptive ISMC+ESO method has a better antidisturbance capacity.
7. Conclusion. In this paper, ISMC technique has been studied for the speed control of
PMSM system. Since the standard ISMC method is dicult to balance the chattering and
the anti-disturbance capacity, three kinds of improved ISMC control methods have been
developed from dierent considerations. An improved method based on linear varying
gain and an improved method based on extended state observer have been developed,
respectively. To further improve system performance and take advantages of the both
improved methods, an adaptive ISMC method based on combination of linear varying

INTEGRAL SLIDING MODE CONTROL METHODS FOR PMSM SYSTEM

Figure 18. Speed response


of system under ISMC+ESO
and adaptive ISMC+ESO
methods

1981

Figure 19. Speed response


of system with disturbance under ISMC+ESO and adaptive
ISMC+ESO methods

gain and extended state observer has been developed. Simulation and experimental results
have shown that the three improved methods can reduce the steady state chattering while
ensuring the system performance.
Acknowledgement. This work was supported by Natural Science Foundation of Jiangsu
Province (BK2008295) and National 863 Project (2009AA04Z140,2009AA01Z314).
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