2019 3rd International Conference on Circuits, System and Simulation
Research on PMSM Speed Control System Based on Improved Reaching Law
Baochun Cui
College of Electrical and Automation
Shandong University of Science and Technology
Qingdao, China
e-mail: cbc8222@163.com
Jie Li
The Staff Department of PLA Army
Beijing, China
e-mail: 13581801389@163.com
Abstract—In the research of performance optimization of
permanent magnet synchronous motor speed control system, in
order to solve the problems of slow starting speed, high
chattering and poor robustness caused by large change of
switching function in traditional exponential reaching law, an
improved variable speed reaching law was proposed in this
paper, based on the PMSM sliding mode variable speed
control strategy. In the design process of speed controller, in
order to eliminate the contradiction between large motor
starting current and fast speed response, the speed error was
introduced into the constant velocity term of the traditional
exponential reaching law, the motion process was related to the
speed of the system, which effectively solved the above
problems. At the same time, the integral state variable was
used to improve the control precision of the motor speed. The
results of modeling and simulation in Matlab software show
that the improved variable speed reaching law can better the
dynamic performance of the motor speed control system.
Keywords-PMSM; reaching law; sliding mode control; speed
controller
I. INTRODUCTION
Permanent magnet synchronous motor has the
characteristics of small size, high reliability, high torque
inertia ratio, high efficiency and high power density. It has
been widely used in numerical control machine tools,
aerospace and other fields [1]. In the field of modern control
systems, especially in the field of high-performance and
high-demand servo drives, the AC servo system based on
PMSM has gradually developed into the mainstream of the
market [2].
The PMSM control system is a representative complex
nonlinear system with multivariable, strong coupling and
time varying characteristics. At present, most permanent
magnet synchronous motor system controllers are designed
by the traditional PI algorithm. Although the simple and
reliable control system designed with the traditional PI
regulator can meet most performance requirements, yet when
the motor is in a long-term and high-power working
978-1-7281-3657-8/19/$31.00 ©2019 IEEE
Authorized licensed use limited to: MAULANA AZAD NATIONAL INSTITUTE OF TECHNOLOGY. Downloaded on February 25,2021 at 07:42:34 UTC from IEEE Xplore. Restrictions apply.
Zhiyuan Han
College of Electrical and Automation
Shandong University of Science and Technology
Qingdao, China
e-mail: 1098167970@qq.com
Jianqiao Mu
Shandong University of Science and Technology
College of Electrical and Automation
Qingdao, China
e-mail: 396420121@qq.com
environment, its internal parameters and characteristics will
greatly change, which will cause the traditional PI controller
to fail to meet the high performance requirements in some
high precision areas. In order to solve the above problems, a
series of modern theoretical research results are applied to
the motor servo system, such as sliding mode variable
structure control, fuzzy control, neural network control and
auto-disturbance rejection control.
In reference [7], a novel reaching law was designed by
introducing variables into the constant velocity term of the
traditional exponential reaching law and the reaching law
was applied to the speed controller, which reduced the
chattering problem of the system. In reference [9], in order to
solve the chattering and robustness problem of PMSM, a
new reaching law was designed and the time to reach the
equilibrium point was calculated. The concept of terminal
attractor was introduced into the exponential reaching law,
and the switching function term was eliminated in this
reaching law, thus making the permanent magnet
synchronous motor maintain more stable speed. Based on
this reaching law, a sliding mode speed controller was
designed, which replaced the traditional PI controller and
greatly improved the dynamic quality of the motor. In
reference [12], a sliding mode controller was designed by an
improved variable-index reaching law. This design
weakened the chattering problem during the sliding mode
motion. However, the problems of large switching gain and
large chattering occurring during the approach phase were
not analyzed. In reference [16], the traditional exponential
reaching law was improved to design a variable parameter
sliding mode controller. However, its resistance to external
disturbances was not strong and the robust performance of
the motor control system needed to be improved. In
reference [18], the sliding mode variable structure control
method was applied in the direct torque control system of the
motor. The experimental analysis showed that the method
effectively solved the problem of large flux linkage and
torque ripple, which greatly improved the dynamic
performance of permanent magnet synchronous motor
19
 control system. In reference [19], a sliding mode variable mechanical angular velocity of the motor; p is the pole
structure control method with load torque observer was number of the motor.
designed, which started from the chattering problem and The equation of PMSM torque is:
greatly solved the problems of current tracking 3
characteristics and chattering. Te  p iq  Ld  Lq id iq 
2
 (2) 
This paper made some improvement on the basis of the
traditional exponential reaching law, introducing the variable Due to Ld  Lq , the mathematical model of the
of velocity error into the constant velocity approach term. In electromagnetic torque can be represented by
addition, the saturation function was used to replace the 3
Te  piq (3)
symbol function inherent in the traditional exponential 2
reaching law. When the system movement point was far The equation of motion of electromotor is:
away from the sliding surface, the system moved to the
d
sliding surface under the control of the variable approach Te  TL  B  J (4)
term and the pure exponential approach term. When it was dt
closer to the sliding surface, the speed error was gradually J is the rotational inertia; B is the viscosity coefficient of
reduced, and thereby the chattering was gradually reduced. permanent magnet synchronous motor; Te and TL
In addition, the design of the sliding mode switching surface respectively represent the electromagnetic torque and load
directly affected the dynamic performance and stability of torque of the permanent magnet synchronous motor. The
the permanent magnet synchronous motor. As the general model of permanent magnet synchronous motor control
switching function was more likely to cause chattering system is shown in Figure 1.
problems, this paper introduced the integral term of the Udc
velocity error in the design. The introduction of the integral
id* =0 + uα *
term not only improved the approach speed of the system, —
PI Park
SVPWM Inverter
but also greatly weakened the high frequency disturbance ω* + Speed + Inverter

caused by the micro component in the traditional controller. —

controller
—
PI uβ *
Finally, the dynamic quality of the system was further iα
improved. iq
Park Clarke

iβ
II. PMSM MATHEMATICAL MODEL id

In general, the mathematical model of PMSM in the d-q ωe Sensor PMSM

coordinate system is analyzed, and the following
assumptions are generally made:
a) The core saturation of the permanent magnet Figure 1. Block diagram of system
synchronous motor is neglected.
b) Permanent magnet synchronous motor core eddy III. THE DESIGN OF SLIDING MODE CONTROLLER
current and hysteresis loss are negligible.
c) There is no damping effect on the rotor and A. Proposal of New Reaching Law
permanent magnet.
d) The back EMF on the phase winding exists in a The traditional exponential approach law is as follows.
sinusoidal form. s= -  sign(s)-s ,  0 (5)
The voltage equation of PMSM in d-q coordinates is: In (5), s indicates the first derivative of the sliding
 di surface; sign() indicates the symbol function;  and 
ud  Rs id  e Lq iq  Ld d
 dt (1)
are constants greater than zero. The symbolic function is as
 follows:
u  R i   L i     L diq
 q s d e d d e q  1 s>0
 dt 
In formula (1), ud and uq respectively represent the sign(s)   0 s=0 (6)
1 s<0
voltage of the d and q axis; id and iq respectively represent 
This formula consists of two parts. One is the constant
the current of the d and q axes; Rs is the stator resistance; Ld velocity approach term, and the other is the pure exponential
approach term. In the traditional approaching method, it is
and Lq respectively represent the inductance of the d and q usually adopted to increase  and reduce  at the same
axes;  is the flux linkage of the motor permanent time to ensure the approaching speed. But an overlarge μ
magnet; e is the permanent angular speed of the permanent will surely cause chattering problem. Therefore, the
coefficients are notably important for the performance of the
magnet synchronous motor, e  p   ,  is the entire system.

20

Authorized licensed use limited to: MAULANA AZAD NATIONAL INSTITUTE OF TECHNOLOGY. Downloaded on February 25,2021 at 07:42:34 UTC from IEEE Xplore. Restrictions apply.
 In order to improve the problem of approaching speed dx1 dx
and buffeting in the traditional reaching law, a new reaching  c 2    sign(s) (14)
law is proposed, as is shown: dt dt
Combining equations (10), (11) and (14), we can know:
 2
s= - x1 sat(s)-s ,  0 bu  g (x)  cx1    sign(s) (15)
 (7)
 lim x  0 Organizing the above formula, the control system output
 t  1 is:
where,
1
x1 indicates the speed error and sat () represents a u  g (x)  cx1    sign(s) (16)
b
saturation function. From the above equation, it can be concluded that the
1 s> 1
 discontinuity   sign(s) is the root cause of the chattering.
sat (s)   s /  s  (8) b
1 Known by equation (7), the constant velocity term of the
 s< 2
The boundary layer thickness  is set to a constant.
new reaching law is   x1  sat (s) . When the motion
In order to prove that the approaching speed of the new point moves on the sliding surface, the value of x1 2 is
approach law and the motion process on the sliding surface
are better than the traditional exponential approach law, relatively small, which greatly suppresses chattering. At the
analyses are made as follows: same time, the symbol function is replaced by the saturation
Chattering analysis: taking the traditional exponential function, and chattering is further reduced.
approach law (5) as an example. This paper defines the state Analysis of reaching time:
variable of the permanent magnet synchronous motor speed The constant velocity term is an important part of the
control system as follows: traditional exponential approaching law. The analysis of its
approach time is as follows:
 x1     e ds
 It can be seen from    sign(s) that when the
 t (9)
dt
 x2  0 x1dt moving point is far away from the sliding surface, the time
 when the system state reaches the sliding surface in a limited
where,  represents the angular velocity of the given motor, time is:
and  represents the electrical angular velocity of the motor.
Derived from the above equation, we can know: s (0)
t (17)
 dx1 3 p 2 Bp p 
     iq    TL In order to further explain the reaching speed of the new
 dt e
2J J J (10)
 reaching law, the constant velocity term is analyzed.
 dx2  x     dt 1

 dt
1  2
(18)
Demand:
ds  x1  sat (s)
 3 p 2 Integral of equation (18) is:
b  1 s (0) 1 s(0)
2J


 (11)
t1  ds  (19)
u  iq
0
x1
2
 x1
2


 g(x)  Bp   p T The time difference between the two reaching laws is:

 J J 2
The sliding mode of the sliding mode controller is s(0) s(0) s(0)  ( x1  1)
t  t1    (20)
designed as follows:   x1
2
 x1
2

s  x1  cx2 (12)
When the moving point reaches the sliding surface, the
pure exponential approach law is close to zero, so the effect
can be neglected and the sliding mode motion is mainly
determined by the constant velocity approaching term, so
only the constant velocity term is analyzed.
ds
   sign(s)
dt
Bringing equation (12) into equation (13), we can know:
When the moving point approaches from the far side to
2
the sliding surface, x1  1 , Therefore, t  t1  0 is
established.
It can be seen from the above analysis that the new
reaching law is faster than the traditional reaching law. In
order to get a clearer difference between the two approaches,
(13) the motion trajectory of the system state motion point under
the control of the two approaches is shown in Figure 2.

21

Authorized licensed use limited to: MAULANA AZAD NATIONAL INSTITUTE OF TECHNOLOGY. Downloaded on February 25,2021 at 07:42:34 UTC from IEEE Xplore. Restrictions apply.
 To further analyze the superiority of the new reaching
law, the same state variables and sliding surface as the new
controller are selected. Finally, combined with the traditional
exponential reaching law, the controller’s control law is:
2J  Bp P  (28)
iq 2 
3 p2   sign(s)   s J   J TL  cx1 
 
IV. SIMULATION AND EXPERIMENTAL VERIFICATION
A Simulation Model of the Whole System of Permanent
Magnet Synchronous Motor is built on Matlab. It mainly
includes the sliding mode speed controller, coordinate
conversion module, SVPWM calculation module, inverter
Figure 2. Diagram of motion track
and other parts. The resistance of each armature winding of
the motor is 2.875  ; The inductance values of the d axes
From the above figure we can know that the new and q axes are both 8.5mH; The value of motor permanent
reaching law has better approaching speed. magnet flux linkage is 0.175Wb; The value of the moment of
inertia is 0.003 kg  cm2 ; The value of the viscous coefficient
B. Stability Analysis
is 0.008; The number of pole pairs of the motor is 4; Set the
According to the stability criterion of Lyapunov, the motor speed to 1000 r  min 1 ; Suddenly add 10 load torque
stability of the system is analyzed. The equation constructed at 0.02s. In order to further verify the superiority of the new
in this paper is: reaching law, the motor speed diagram, electromagnetic
1 torque diagram and three-phase current variation diagram
V  s2 (21)
2 under the control of two reaching laws are respectively
Available from the above formula: presented for comparative analysis. The speed diagram,
2 torque diagram and current diagram of PMSM are as follows:
V  s  s   x1  s    sat (s)   s2 (22)
Because  and  are positive numbers, so
V 0 (23)
It can be seen from equation (22) that the new reaching
law of this paper is stable.
C. Design of Integral Sliding Mode Controller
In order to weaken the high frequency disturbance caused
by the introduction of the micro-component in the
conventional sliding surface, this paper introduces the
integral term in the selection of state variables. Take the
PMSM system state variable, as is shown in equation (9).
Deriving equation (9) and combining equations (3) and (4),
we can know:
Figure 3. Speed response under SMC control
 3 p 2 Bp p
x
 1   e   iq    TL (24)
 2 J J J
x  x    
 2 1
The integrated sliding surface design of controller is:
s  x1  cx2 (25)
Then
3 p2 Bp p
s  x1  cx2   i    T  cx1 (26)
2J q J J L
where,
c is a constant greater than 0.
The controller adopts the improved reaching law in this
paper and combines equations (6) and (25) to obtain:
2J  2 Bp P  (27)
iq1 
3 p2  x1 sat (s)   s J   J TL  cx1 
  Figure 4. Torque response of traditional reaching law

22

Authorized licensed use limited to: MAULANA AZAD NATIONAL INSTITUTE OF TECHNOLOGY. Downloaded on February 25,2021 at 07:42:34 UTC from IEEE Xplore. Restrictions apply.
 V. CONCLUSION
Aiming at the problems of slow start-up speed, high
chattering and weak anti-interference ability in traditional
exponential sliding mode, a new exponential reaching law
was proposed and a sliding mode variable structure
controller was designed in this paper. Through experimental
verification and data analysis, it can be concluded that the
new reaching law can effectively solve the problems of large
motor overshoot, slow start-up speed and weak anti-
interference ability, which greatly improved the dynamic
performance of the PMSM speed control system.
REFERENCES
[1] Yujun,Zuo and Qingfang Teng. Sensorless vector control for PMSM
system based on variable structure MRAS observer[J]. science
Figure 5. Torque response of new reaching law technology and engineering,2014, 14(9):49-53)
[2] Renyuan Tang. Theory and design of modern permanent magnet
motor[M]. Mechanical Industry Press,2005I. S. Jacobs and C. P. Bean,
“Fine particles, thin films and exchange anisotropy,” in Magnetism,
vol. III, G. T. Rado and H. Suhl, Eds. New York: Academic, 1963, pp.
271–350.
[3] Xianxing Liu,Yanzhu Bu, and Yuwen Hu, et al. Space vector
modulation system for permanent magnet synchronous motor based
on precision linearization decoupling[J]. Proceedings of the
CSEE,2007, 27(30): 56-59.
[4] Fanchang Zhang,Yaonan and Wang,Jing He. Variable structure
intelligent control for PM synchronous servo motor drive.
Proceedings of the CSEE,2002,22(7):13-17.
[5] Rong-Jong, and Wai.Total sliding-mode controller for PM
synchronous servo motor drive using recurrent fuzzy neural
network[J].IEEE Transactions on Industrial
Electronics,2001,48(5):926-944.
[6] Jinkun Liu. Sliding mode variable structure control matlab
simulation[M]. Beijing: Tsinghua University Press,2005.
[7] Yaohua Hu,Chuang Liu,and Yinhang Ning. Sliding mode control of
Figure 6. Current response of traditional reaching law PMSM with improvement exponential approach law[J].
Micromotor,2012,45(8): 55-57.
[8] Weibing Gao. Theory and design method of variable structure
control[M].Beijing: Science Press,1996.
[9] Xiaoguang Zhang,Ke Zhao, and Sun Li. et al. A PMSM sliding mode
control system based on a novel reaching law[J]. Proceedings of the
CSEE, 2012,31(24):77-82.
[10] Zhongqin Li. Sliding Mode control for PMSM based on variable-rate
reaching law method[J]. Motor and control
Applications,2017,44(5);23-25.
[11] Xiaoding Guo,Da Bai,Shao, and wu Zhou,et al.A PMSM sliding
mode control system based on a novel exponential reaching
law[J].Control Engineering China, 2018,25(10):1867-1869.
[12] Kewen Tong,Xing Zhang, and Yu Zhang.et al. Sliding mode variable
structure control of permanent magnet synchronous machine based on
a novel reaching law[J]. Proceedings of the CSEE,2008,28(21):102-
105.
[13] Ying Fan,Xiaofei Zhou, and Xiangyang Zhang,et al.Sliding mode
control of IPMSM system based on a new reaching law and a hybrid
speed controller[J]. Transactions of China Electrotechnical
Figure 7. Current response of new reaching law
Society,2017,32(5):11-16.
[14] Ying Wang,Jianying Xu, and Guanru Chen,et al. Synchronous film
By analyzing the above simulation diagram, we can control of permanent magnet synchronous motor based on fast
conclude that the new reaching law has better dynamic approach rate[J]. Journal of University of Science and Technology
performance. Liaoning,2018,41(1):46-50.

23

Authorized licensed use limited to: MAULANA AZAD NATIONAL INSTITUTE OF TECHNOLOGY. Downloaded on February 25,2021 at 07:42:34 UTC from IEEE Xplore. Restrictions apply.
 [15] Xiaoguang Zhang,Ke Zhao, and Li Sun,et al. Dynamic quality control torque ripple reduction[J].IEEE Trans on Energy
of permanent magnet synchronous motor sliding mode variable Conversion,2001,16(3):200-227.
structure speed control system[J]. Proceedings of the [18] Hongping Jia, and Yikang He. Sliding mode variable structure direct
CSEE,2011,31(15):47-52. torque control of permanent magnet synchronous motor[J].
[16] Haibo Wang,Bo Zhou, and Sichen Fang. A PMSM sliding mode Transactions of China Electrotechnical Society,2006,21(1):1-6.
control system based on exponential reaching law[J]. Transactions of [19] Ningzhi Jin,Xudong Wang, and Wenjuan Li. Current sliding mode
China Electrotechnical Society,2009,24(9):71-77. control and load disturbance compensation of PMSM for hybrid
[17] Lai Y S,Chan J H. A new approach to direct torque control of electric vehicles,2013,35(6):553-558.
induction motor drives for constant inverter switching frequency and

24

Authorized licensed use limited to: MAULANA AZAD NATIONAL INSTITUTE OF TECHNOLOGY. Downloaded on February 25,2021 at 07:42:34 UTC from IEEE Xplore. Restrictions apply.