Simulation of Sliding Mode Control for PMSM on
Account of Variable Exponential Approach Law
1st Qun Wang
School of Automation, Wuhan School of Automation, Wuhan
University of Technology University of Technology
Wuhan University of Technology Wuhan University of Technology
Wuhan 430070, China Wuhan 430070, China
qunwang@whut.edu.cn jingchen680@163.com
Abstract—Aiming at such control requirements of the
permanent magnet synchronous motor (PMSM) as smooth
accurate speed regulation and anti-interference in integrated
injection molding machine, a SMC method on account of
variable exponential approach law is put forward in this paper.
It is applied to the speed loop of the PMSM servo system. Firstly,
the sliding mode speed controller on account of variable
exponential approach law is design. Then, the sliding mode
speed controller of PMSM servo system is implemented. Finally,
the simulation is performed by MATLAB. The simulation
results prove that the method is more effective and suppresses
the chattering of sliding mode control, improving the dynamic
quality and robustness of the PMSM servo system.
Keywords—Variable exponential reaching law, PMSM,
Sliding mode control, MATLAB/Simulink simulation
I. INTRODUCTION
The injection molding process is a complex and repetitive
process. It mainly consists of pre-molding, mold clamping,
injecting, pressure holding, cooling, mold opening, ejecting.
Mold clamping process is one of the main process, which is
the key to ensure the quality of products[1].
In the mold clamping process, the motor drives the
quantitative pump to make hydro-cylinder move. Generally,
there are three steps of fast mold clamping, high-pressure
mold locking and low-pressure mold locking. During different
stages of the mold clamping process, injection molding
machine’s controller will send out various control data signals.
The servo driver chooses the pressure or flow control mode
according to the signals[2]. To control the hydraulic system’s
pressure and flow requires only precise control of the torque
and speed of the motor. In this process, the driver will also
collect feedback signals of pressure and flow through the
sensor. Then, it constantly adjust the torque and speed of the
motor to achieve accurate control of the mold clamping
process. The PMSM is used in this process[3].
The servo system of PMSM possesses the features of non-
linearity and strong coupling. It is easily affected by internal
parameters or external disturbances changes of the motor[4].
Therefore, the robust control method of PMSM has become
one of the focuses of motor research in recent years[5]. Sliding
mode control is inactive to disturbances and parameters, and
possesses more fast response speed. It plays a vital function in
the robust control of the PMSM. The choices of reaching law
and gain directly influences robustness and chattering of SMC.
At present, the research on PMSM mainly focuses on the
design of reaching law and weakening of the chattering of
SMC[6].
In this paper, a SMC method on account of variable
exponential approach law is proposed. The design of sliding
mode speed controller is applied to the speed loop of PMSM
978-1-7281-4094-0/19/$31.00 ©2019 IEEE
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2nd Jing Chen 3rd Zheng Zhou
School of Automation
Wuhan university of technology
Wuhan, China
Email: zzheng0516@whut.edu.cn
servo system. The rest part of the paper as follows. Section II
introduces the variable exponential reaching law and details
the design of SMC. Section III details and analyses the SMC
implementation of PMSM servo system. Section IV
establishes the simulation model as well as analyses the results.
Section V concludes the paper and points out the important
future work.
II. DESIGN OF SLIDING MODE SPEED CONTROLLER
A. Variable exponential reaching law
Generally, the motion system of SMC includes two parts.
One part is the normal motion which is at the outside sliding
surface. It is the step from approaching the sliding surface to
reaching the sliding surface. Another part is the motion near
the sliding surface and along the sliding surface s(x,t)=0. It is
the stage of moving along the switching surface towards the
equilibrium point. Various approaching law functions is able
to be used to make sure the quality of these two stages.
The variable exponential reaching law function is adopted
in this paper, as shown in Formula (1).
<
 s H e sgn(s)  qs  
Where, q > H >0, lim e 0 .
t of
The state variables move towards the sliding surface at two
rates of variable speed and exponent at the beginning of the
motion. When the motion approaches the sliding surface, the
exponential term tends to zero, and then the variable speed
term H e s plays a key role. When tending to zero infinitely
in the stability process of SMC, the status variable e enters
the sliding surface ,as well as moves toward the origin through
the variable exponential reaching law. During this process, the
control term H e s continuously decreases and finally
stabilizes near the origin. It makes the coefficient of the
chattering control term sgn(s) become zero, thus eliminating
the chattering.
B. Sliding mode speed controller designs on account of
different exponential approach law
To facilitate the design of sliding mode speed controller,
take a surface-mounted PMSM (Ld=Lq=Ls) as an example.
The math model in d-q rotating coordinate is setted up, as
shown in Formula (2). The torque equation is shown in
Formula (3) and the motion equation is shown in Formula (4).
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 ­ d 1 t <
D ³0
Rid  Ld i d  p n Z m Lq i q  iq* >c e  H e sgn( s )  qs@ dW     
°° u d dt
 ®  
°u d
Riq  Lq iq  p n Z m Ld id  p n Z m M f Therefore, the structure block diagram of SMC based on
°̄ q dt
variable exponential reaching law can be obtained, as shown
in Fig. 1.
3
 Te pnM f iq  
2
Variable
+
Discretized + exponential + Discretization Limited
dZ differential Reaching law + Integral output
 Te TL  FZm J m   function
dt

Where ud is d -axis voltage and u q is q -axis voltage, Fig. 1 Basic structure block diagram of SMC
id is d -axis current and iq is q -axis current, Ld is d -axis
To further reduce the chattering of the moving trajectory
inductance and Lq is q -axis inductance, R is stator of the state variable before reaching the origin. The sign
resistance, pn and Zm are polar logarithm and mechanical function in the buffeting control term is smoothly processed,
as shown in Formula (11). Where V is a very small normal
angular speed respectively, M f is the permanent magnet flux,
number.
Te is the electromagnetic torque, TL is the load torque, J is
the moment of inertia, F is the damping coefficient. s
 sgn(s)   
State variable of the PMSM system is defined, as shown s V
in Formula (5). Formula (6) can be obtained from above
formulas. The sliding surface function is defined, as shown in
Formula (7). In addition, while the chattering is greatly weakened by
the variable exponential reaching law, the system still has
stronger robustness. The sliding mode gain is designed to
­°e Zm  Zm show a non-linear relationship with the speed error signal, as
 ®< <   shown in Formula (12).
°¯e Zm
­100  e t 1
­< 1 3  H = °®100 e  e  1 
<
Z m = ˄ 7L  p nM f iq˅  
°° e J 2
 ® <<   °
<< 3 p nM f < ¯ 0.5  e d 0.01
°e  Zm  iq
°̄ 2J
It is able to see that from Formula (10) the SMC contains
< integral terms. Firstly, it can reduce the phenomenon of
 s cs  s     chattering. Secondly, it is able to remove the system’s steady-
state error and improve the system’s control performance. It is
able to see that from Formula (12) the designed sliding mode
Where, c >0, Z m is the motor’s setting speed parameters ,
gain further fits the actual control process of the system.
Zm is the motor’s actual speed parameters.
<
Formula (8) can be obtained after taking the derivative of In addition, through calculation can obtain s s  0 .
s and substituting it into above formulas. According to Lyapunov stability criterion, the sliding mode
speed controller on account of different exponential approach
< < << <
law is stable.
 s ce e =ce Du     III. SMC IMPLEMENTATION OF PMSM SERVO SYSTEM
< Vector control methods mainly includes id=0 control,
Where, u i q ; D 3 pnM f / 2 J . maximum torque-current ratio control and weak magnetic
control. With regard to surface-mounted PMSM, the rotor
To make sure the good dynamic quality of PMSM servo field oriented vector control method with id=0 is adopted to
system, the variable exponential approach law method is earn better control performance. As shown in Formula (3),
adopted here. According formula (1) and formula (8), the electromagnetic torque Te can be accurately controlled of by
expression of the controller can be obtained through
simplification, as shown in formula (9). So, the reference controlling iq .
current of the q-axis can be obtained as shown in formula (10).
The PMSM of clamping system is used as the research
object. The sliding mode speed controller on account of
1 <
 u > c e  H e sgn( s )  qs@     variable exponential reaching law is used to the speed loop of
D PMSM vector system. The schematic diagram of vector
control is shown in Fig. 2. The PMSM vector system on

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account of sliding mode speed controller consists of d axis Motor TYB325 Rated power
5
Rated phase
220
current loop, q axis current loop and speed loop. Variable Model -42-80 /KW voltage /V
Rated
exponential approach law is applied to the speed loop and PI speed 3000
Rated torque
20
Moment of
0.003
controller is used in the current loop. /N*m inertia /kg/m2
N/r/min
Torque Stator
d-axis stator
+ coefficient 0.008e-4 5.85 inductance 12.25
current loop resistance /Ω
- /N*m/A /mH
PI controller

Speed q-axis
+ + SVPWM
loop current loop
- -
SMC PI controller
PWM signal

Three-phase
Inverter

Rotor
Detection PMSM
Device

Fig. 2 Principle block diagram of PMSM vector control

based on SMC
Fig. 3 PMSM vector simulation model based on SMC
The specific implementation process is as follows.
Firstly, the current mechanical angular speed T m is
detected of the motor detection device. The motor speed Ze
and electric angle Te are obtained by calculation. The three-
phase stator currents ia , ib and ic of A, B and C are sampled
by current sensors. And the current components id and iq in
the two-phase rotating coordinate system are obtained by
coordinate transformation.
Then, the difference between the given electric angular Fig. 4 SMC simulation model
speed Zm and the actual electric angular speed Zm is taken
Three cases of abrupt change of given speed, abrupt
as the input of the speed loop. The output value iq is taken as
change of load torque and mismatch of internal parameters are
the cross-axis current’s given value. The difference between simulated in this paper. The time of simulation is set as 0.3s ,
the given value id and iq of straight-axis and cross-axis the speed is changed abruptly from 1000r/min to 3000r/min.
The load torque of 1.2N.m is added at 0.15s and the stator
current and actual values id and iq of the straight-axis and resistance is set to twice the rated value. The simulation
cross-axis current is taken as the input of the corresponding waveform of abrupt change of given speed is shown in Fig. 5.
current loop. The abrupt change of load torque’s simulation waveform is
shown in Fig. 6. And the simulation waveform of internal
Finally, the output values ud and uq are given voltage’s parameter mismatch is shown in Fig. 7.
values. ud as well as uq are obtained by coordinate
transformation in the stationary coordinate system and are
used as input signals of the SVPWM module. The output
signals of the SVPWM module as driving signal of three-
phase inverter.
IV. SIMULATION MODELING AND RESULT ANALYSIS
The PMSM’s parameters are shown in Table 1 .The
simulation model of Surface-mounted PMSM vector control
system on account of Matlab/Simulink is established, as
shown in Fig. 3. The simulation model of sliding mode speed
controller is on account of variable exponential approach law
is shown in Fig. 4. Fig. 5 Simulated waveform of sudden change speed at given speed

TABLE I. PARAMETER TABLE OF PMSM

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Fig. 6 simulation waveform of load torque mutation
electromagnetic torque
Fig. 7 simulation waveform of internal parameter mismatch speed
and electromagnetic torque
From Fig. 5 to Fig. 7, it is able to see that the sliding mode
speed controller on account of variable exponential approach
law has smaller overshoot, faster stability speed and better
anti-interference ability. Faced with abrupt change of given
speed, abrupt change of load torque and mismatch of internal
parameters, it can achieve rapid response, rapid recovery and
has stronger robustness.
V. CONCLUSION
Aiming at such control requirements of PMSM as smooth
accurate speed regulation and anti-interference in integrated
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injection molding machine. The SMC is designed and used to
the speed loop of the PMSM servo system. According to the
non-linear relationship between the motor speed error signal
and the sliding mode gain, the sliding mode gain is designed
and the sign function is smoothly processed. The results of
simulation demonstrate that the sliding mode control method
has better dynamic quality ,as well as anti-disturbance ability,
meeting the requirements of PMSM speed and torque in
different stages of the mold clamping process. However, it is
difficult to implement the variable exponential reaching law
in the DSP system. Then, the authors will study more to solve
this problem.
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