A New Exponential Power Combined Reaching Law Sliding-mode Control for

Permanent Magnet Synchronous Motor

Chunbo Xiu!, Liu Yuan!” , Jiaming Li!
1. School of Control Science and Engineering, Tiangong University, Tianjin 300387, China
E-mail: xiuchunbo@tjpu.edu.cn
2. Key Laboratory of Advanced Electrical Engineering and Energy Technology, Tiangong University, Tianjin 300387, China
E-mail: YuanLiu 1368398683 1@163.com

Abstract: In order to meet the high precision speed regulation requirement of permanent magnet synchronous motor
(PMSM) and to overcome the influence of chattering caused by disturbance on speed, a new variable-exponent power
combination reaching law is proposed. The reaching law has the characteristics of fast reaching speed and small
chattering. The sliding-mode speed controller of permanent magnet synchronous motor designed based on this law is
analyzed by using Lyapunov stability criterion, and compared with fast power law, double power law and variable
exponential fast power law. The results show that the sliding-mode controlled variable can converge to the given value in
finite time, and the convergence speed of the reaching law controller is faster when the system has bounded disturbance.
It is proved that the new exponential power combination reaching law controller has fast response speed, strong
2021 33rd Chinese Control and Decision Conference (CCDC) | 978-1-6654-4089-9/21/$31.00 ©2021 IEEE | DOI: 10.1109/CCDC52312.2021.9601822

robustness and good dynamic and static characteristics.

Key Words: Reaching Law, Sliding-mode Control, Speed Response, Robustness

rate, but the chattering of the double power reaching law is

1 INTRODUCTION
Sliding-mode control is a nonlinear and robust control
method, which has the advantages of invariability and
insensitivity to external disturbances in the sliding-mode
motion phase of the system [1]. It has become a research
hotspot and is widely used in the motor control system [2].
Three-phase permanent magnet synchronous motor
(PMSM) is a nonlinear and complex control system with
strong coupling, multiple variables, high efficiency and high
reliability [3]. It is widely used in many high-precision and
high-efficiency control situations. Traditional PMSM speed
regulation mostly adopts PI regulation, but when there is
external disturbance under the influence of external
environment, PI regulation is difficult to achieve high
precision speed regulation requirements. Therefore, PMSM
adopts sliding-mode control, robust control [4], active
disturbance rejection control [5-6] and fuzzy control [7]
with better control effect.
At present, sliding-mode control is mainly studied in two
aspects: one is the convergence rate of sliding-mode control
[8], on the other hand, the chattering problem [9] is studied
during the convergence of sliding mode. Ref. [10] proposed
introducing weighted integral gain on the basis of
exponential reaching law to reduce chattering of the system
by reducing steady-state error. In Ref. [11], saturation
function was proposed to replace the sign function in the
reaching law, so as to reduce system chattering. In Ref. [12],
pure exponents were added on the basis of the double power
reaching law, which effectively improved the convergence
This work is supported by Nature Science Foundation of Tianjin China
under Grant 18JCYBJC88300 and Program for Innovative Research Team
in University of Tianjin under Grant TD13-5036.
relatively obvious. In Ref. [13], by limiting the input
conditions in the reaching law design, the requirements for
chattering free and reaching the sliding-mode surface in
finite time were met, but the control objects were greatly
restricted. In order to improve the dynamic and static
performance of PMSM speed regulation system, a new
control method of exponential power combination reaching
law is proposed in this paper. In the new reaching law of
exponential power combination, the saturated term and the
function of the term are added to reduce chattering when the
system state moves on the sliding-mode surface. When it is
far from the sliding mode surface, the control quantity is
limited to prevent the system from instability and failure to
meet the control performance requirements due to excessive
control quantity.
Based on the new exponential power combination reaching
law, the speed tracking controller is designed, and the
integrated sliding-mode surface function is selected. In the
PMSM speed control system, the simulation comparison is
made with the fast power combination reaching law, the
double power combination reaching law and the variable
exponential fast power combination reaching law, to verify
the superiority of the new exponential power combination
reaching law speed controller.
2 PMSM MATHEMATICAL MODEL
By studying the differential equation of the motor, the
characteristics of the PMSM system canbe obtained. When
L@=L,q=Lsis selected for the rotor structure, the mathematical
model under the coordinate system of d and q is established,
as shown in Eq. (1).

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 di For PMSM speed control Eq. (6), the sliding-mode surface
u, d =R,.i,SS d +L, S —-
dt PaliS"q selection and reaching law are designed.

I 3.1 Selection of Integral Sliding-mode Surface

u,=R,i, + L, ar — pal.i, + poy, (1) The traditional sliding surface contains the differential
t
error, which is easy to cause the buffeting problem of the
do 1 system, and cannot meet the high precision requirement of
—=—(-T,4+7,-Bo
dt 5 | L e )
PMSM speed control system.
where wand wu, are the d and g axis components of the stator In order to reduce the chattering problem of the system
voltage respectively, ia and i, are the d and gq axis caused by the sliding surface, the integrated sliding surface
components of stator current, respectively, R, is the stator is adopted [15-16]. The integrated sliding-mode surface has
resistance under the coordinates of d and q axes, L=La=Ls is the advantages of reducing the steady-state error of the
the stator inductance under the coordinates of d and qg axes, system, reducing chattering and enhancing the stability of
P is the logarithm of the magnetic poles of the motor, @» is the speed tracking controller, etc. The expression of integral
the rotor mechanical angular velocity, J is the moment of sliding-mode function is selected as:
inertia, Y is a permanent magnet flux chain, T. and 7; are t

the output electromagnetic torque and load torque of the

s=xtk| xde (7)
motor and Bis the friction coefficient. where k>0. Take the derivative of Eq. (7) to get Eq. (8).
For the PMSM speed regulating system, the torque equation S=xX+kx (8)
is shown as:
3.2 Design of Exponential Power Combination
I, == py li, -%,) (2) Reaching Law

When the system state arrives at the sliding-mode surface, it

In order to simplify the controller design and achieve good
does not move on the sliding-mode surface according to the
control effect, set iz =0. After simplifying Eq. (1), the
set trajectory, but generates chattering, which moves under
mathematical model can be obtained as:
the sliding-mode surface. In order to overcome the
di, 1 . chattering and slow convergence of sliding-mode control, a
aL —Ri, —poy,) new exponential combination reaching law, based on the
basis of fast power law [17], double power law and variable
u, =—PaOL.i, (3) exponential fast power law [18], is designed as:

do =—|-T,+-—
_! 3
$ . =—k, | 5 | a k, 3 tan
tan sigsi (s)|
sgn(s)—k,|s|* sgn(s) (9)
i, -Bao
dt af Lt ZPhrq where ky, ko, k3>0, a>0, and s is the law of approach. When
|s|=1, A=|s|, when |s|<1, =a and 0<a<1.
The design of PMSM sliding-mode speed tracking
When the state of the system is far from the sliding-mode
controller means that the actual output speed of the motor
surface, the exponential term in the first part reaches
can quickly track the given speed under any condition. The
saturation value to avoid system instability caused by drastic
speed tracking error is defined as shown in Eq. (4).
changes in exponential changes caused by excessive |s|
x=Q0,-@ (4) value. The term |s| shows linear change, which makes up for
By substituting the derivative of Eq. (4) into Eq. (3), Eq. (5) the slow convergence rate after the exponential reaches
can be obtained as follows: saturation when the state of the system is far from the
sliding-mode surface. When the system state approaches the
p= 82m _ 3 j + 4B? (5) sliding-mode surface, the first part approaches to zero
de 2 ea indefinitely, this reduces the chattering of the system and
Let u=i,, bD=BU, d=Gp¥)/2J), e=d@m/dt and f=(Ban+ retains the advantages of the second part, the power
Ti VJ obtain the state equation of PMSM speed control reaching law of variable exponent.
system as shown in Eq. (6).
4 ANALYSIS OF SLIDING-MODE SPEED
x =e-—du+ f—bx (6)
TRACKING CONTROLLER
In the equation, let the change in wm and 7; be the
disturbance quantity.
4.1 Stability Analysis of Sliding-mode Speed Tracking
Controller
3. DESIGN OF SLIDING-MODE SPEED
TRACKING CONTROLLER In order to ensure that the sliding-mode speed tracking
controller can converge to a given value in finite time, the
The design of sliding-mode speed tracking controller needs
stability of the system needs to be judged first by Lyapunov
to choose reasonable sliding-mode surface and appropriate
function, which is defined as:
reaching law to make the system trajectory reaching the
sliding-mode surface quickly and move along the
sliding-mode surface under the action of the controller [14].

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 1
V(x)=—s°
(x) 55 10
(10) T -_ to (18)
(21))243 1
The derivative with respect to V(x) is Eq. (11).
k2 * [1-QY)?]
V(x) = ss =s(x+kx) According to Eq. (18), if the disturbance error boundary
dy) Dik, |s|a""')<1 is disturbed, s can converge to the
=s[-(6-k)x-du+e+
f]
disturbance error boundary within the required time 7.
If Eq. (9) is substituted into Eq. (11), Eq. (12) can be
written: To sum up, system states always converges to the region
7 k; tansig(s A shown in Eq. (19) in finite time.
V(x) =k, sal 8 ke | s |" (12)
So V(x) <0. If and only if s=0, /(x)=0. Thus, the Isls kai!
(19)
controller designed by the exponential power combination 1

reaching law satisfies the sliding-mode control arrival Increasing the value of k,a! can reduce the range of
condition and can ensure the system to enter the disturbance error bounds, while increasing the value of kp
sliding-mode. can accelerate the convergence speed and shorten the
convergence time.
4.2 Steady-state Error Margin Analysis of
Sliding-mode Speed Tracking Controller 5 SYSTEM SIMULATION AND ANALYSIS
Eq. (12) is affected by uncertain disturbance, then Eq. (12)
can be rewritten as: 5.1 Simulation Comparison and Analysis of
Convergence Characteristics
V(x)=—k, | s? al —k, | s |! +d(Os
Fast power law, double power law, variable exponential fast
<-k,|sP al"! k, |s|*'+D|s| 13) power law and exponential combination law are
x ks respectively used to design the corresponding control law,
<—k,|s|*" -|s|(k,|s|a!—D) and the control law is simulated and compared. Single input
where, d(/) SD. If k|s|a'-D>0, Payso. By single output controlled system is considered as follows:
substituting Eq. (9) into Eq. (13), Eq. (14) can be obtained s(t)=u+d(t) (20)
as follows:
where w is the control input, and d(f) is the uncertain

V(x)<
—k,|s|\" -|s| (ea! |s|-D),|s|<1 disturbance. The control law designed by using each
reaching law is:
~k,|s |" —|s|&a'|s|-D),|se1 1) Fast power reaching law:
(14) u, =—k, | s|* sgn(s)—k,s (21)
When D/(k,|s|a"')<js|<1, namely 0.5(D/k,|s|a"') =V,
2) Law of double power reaching:
and \<V’<0.5, the first equation of Eq. (14) can be obtained
as follows: u, =—k,|s|* sgn(s)—k,|s |" sgn(s) 22)
atl al 3) Fast power reaching law of variable exponent:
V(x) <-k, |s|°"'=-k,2 2 V ? (15)
u,=—k,s—k,|s [’ sgn(s) (23)
The convergence time from /o=0.5s(0)? to V1 is T<Tinax,
4) Law of exponential power combination reaching:
where 7imax is Shown in Eq. (16).
1 ae a u, =—k,|s|al"""8! sen(s) —k, | 5 |* sgn(s) (24)
Tra = (103 -V, 2 ) (16) When |s|>1, A=|s|, when |s|<1, A=a. From Eqs. (21)-(24),
k,22(l-a@) ky=1, ko=2, k3=2, a=2, a=0.5 and f=1.2.
When there is no disturbance in Eq. (20), namely d()=0, the
Eq. (16) shows that if the perturbation error bound
initial state is set as s(0)=1, s(0)=5 respectively. The control
Di(k,|s|a“') <1, s can converge to the perturbation error
input adopts the control law designed by Eqs. (21)-(24), and
bound within the required time 7. the convergence time of the four reaching laws is compared.
When 1<D/(k,|s|a""')<s| , namely 0.5(D/k,|s|a*'?
=, Where the exponential power combination law is
and 0.5<Ii<V the second equation of Eq. (14) can be abbreviated as EPCL, the fast power law is abbreviated as
obtained as follows: FPL, the double power law is DPL and the variable
exponential fast power law is abbreviated as VEFPL.
ory? 41
The change diagram of state variable s with respect to time
V(x) <-k,|sP"'=-k, QV) ? (17) is shown in Fig. 1.
The convergence time from /o=0.5s(0)? to V1 is T<Tinax,
where 7imax is Shown in Eq. (18).

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 Based on the comparative analysis of Fig. 1 and Fig. 2,
based on the control advantages of exponential power
combination reaching law, the system state Eq. (6) is adopted
in the motor control system of PMSM, and the expression of
integral sliding-mode Eq. (7) and exponential power
combination reaching law (9) can obtain the expression of
sliding-mode speed tracking controller as shown in Eq. (25).
1
w= (b—k)xte+
=—[-(b-k)x+e+ f 05)
0 2 4 we 6 # 10
+k, |s|a™"8 son(s) +k, | s|* sgn(s)]
(a) s(0)=1
5.2 Sliding-mode Control and Analysis of Three-phase
PMSM Speed Regulation System

The system model of the sliding-mode control PMSM speed

control system is established to compare the control effects
of the controllers designed by the fast power reaching law,
the double power reaching law, the variable exponential fast
ae

power reaching law and the exponential combination

a

reaching law. The tabulated three-phase PMSM control

P 2

system is taken as an example. The control parameters are

”

stator resistance R,=2.875Q, stator inductance L,=0.0085H,

0 2 4 « & 8 10 motor pole logarithm p=4, damping ratio coefficient
us

B=0.001N-m-s, rotational inertia J=0.0008kg-m? and

(b) s(O)=5
Fig 1. Convergence rates comparison diagram
When there is a disturbance in Eq. (20), namely, d()40, the
initial state is set as s(0)=1, s(0)=5 respectively. Compare
the steady-state error bounds of the four reaching laws.
Let d()=0.2cos(#), the change diagram of state variable §
with respect to time is shown in Fig. 2.
permanent magnet flux chain Y=0.175Wb. The actual
output speed of PMSM control system based on exponential
power combination reaching law speed regulation tracking
controller is w, and the given speed is @mn.
In the PMSM control system of the speed regulating
tracking controller, PI controller is added to increase the
control effect of the controller. The initial set speed is
300r/min and /=0, and the load torque of the motor is ON-m.
At 0.5s, step disturbance is added, namely /40, and the load
torque of the motor is 1N-m. Inthe PMSM control system of
the speed regulating tracking controller with exponential
power combination reaching law, the parameter is designed
as: k=20, ki=5, k2=10, k3=10, a=2 and a=0.5. In the other
three kinds of reaching law, the same value is selected for
the parameters with exponential power combination
reaching law, in the double power combination reaching
law, the parameter /=1.2 is designed. The system response
results at a given speed are shown in Fig. 4 and Fig. 5.
300
EPCL
epee FPL
=—=— =. DPL
vi, VEFPL

100
——

50

0 0.5 1 LF! 2
a a t/s
0 2 4 dg 6 8 10
Fig 3. Given speed response curve

(b) s(O)=5
Fig 2. Steady-state error margin comparison diagram

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 EPCL
convergence speed is fast. In the PMSM speed control
150 ene
FPL
system, the controller designed by the approach law is
VEFPL
compared with the controller designed by the other three
100 kinds of reaching law. It is shown that the new exponential
z(t) power combination speed tracking controller has good
dynamic and static characteristics in speed tracking,
overcoming external disturbance and inhibiting chattering.

a os 1 15
t/s
Fig 4. Change curve of rotation speed error
As can be seen from Fig. 4 and Fig. 5, when the system
operates at a given speed, the response curve of the system
has obvious overshoot due to the existence of PI regulation
link, and it takes a period of time to restore the speed to
given speed. Compared with the control effects of
power law, double power law and variable exponential
power law, the exponential power combination law
better advantages in both the overshoot and the convergence
speed. In the convergence motion, the convergence speed is
fast and the overshoot is small.
When the system is disturbed by the outside world, the load
torque changes, and the system speed response curve is
shown in Fig. 5.
600
an
nn
400 \
=
4 rs
A 300 ‘a
oe iN:ty I he *
2 200 — _
100
0 No.9, 146866- 146875, 2019.
0 0.5 1 15
t/s
Fig 5. Speed response curve
According to Fig. 5, when the system is affected by external
disturbances, the disturbance deviation of the controller
designed by using the variable exponential fast power
reaching law is far less than that of the controllers designed
by the other three reaching laws, and the control effect is
obviously better than that of the controllers designed by the
other three reaching laws.
6 CONCLUSION
In this paper, a new exponential
reaching law is proposed, which has the advantages of fast
convergence rate and small steady state error compared with
the existing reaching law, and also solves the chattering
problem in system control. In the new reaching law of
exponential power combination, the saturated term and the
function of the term are added to make the chattering of the
system less when the system state moves on the sliding
mode surface. When it is far from the sliding surface, the
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