2014 17th International Conference on Electrical Machines and Systems (ICEMS),Oct.

22-25, 2014, Hangzhou, China

Adaptive Sliding Mode Control for the Speed

Regulation of PMSMs with Load Change

Chaoxu Mu∗‡ , Wei Xu† , Changyin Sun‡

∗ School
of Electrical and Automation Engineering, Tianjin University,
Tianjin, China 300072, Email: cxmu@tju.edu.cn
† State Key Laboratory of Advanced Electromagnetic Engineering and Technology,

School of Electricaland Electronic Engineering, Huazhong University of Science and Technology,

Wuhan, China 430074, Email: weixu@hust.edu.cn
‡ School of Automation, Southeast University, Nanjin, China 210096, Email: cysun@seu.edu.cn

Abstract—This paper mainly studies the speed control for a change, then a continuous sliding mode control is designed to
permanent magnet synchronous motor system. The relationship realize the desired tracking performance of the speed system of
between the reference quadrature axis current and the speed the PMSM. The whole adaptive sliding mode control strategy
output is approximately considered as a second-order model. has good control performance dealing with the time vary load
Based on this second-order model, an adaptive sliding mode and disturbances.
controller is designed for the speed regulation, which can provide
effective control for load torque change and parameter uncer-
II. PMSM M ODEL D ESCRIPTION
tainty. Simulation results are presented to veryfy the proposed
method. In this paper, taking the d-q axis as reference coordinate,
a surface-mounted PMSM with the states can be described as
I. I NTRODUCTION [14], [15], [19]
⎡ ⎤ ⎡ 𝑅𝑠 ⎤
[ ] ⎡ 𝑢𝑑 ⎤
Permanent magnet synchronous machine (PMSM) has 𝑖˙ 𝑑 − 𝐿𝑑 𝑛𝑝 𝜔 0 𝑖𝑑 𝐿𝑑
demonstrated great potentiality in industrial field [1], [2], ⎣𝑖˙ 𝑞 ⎦ = ⎢
⎣−𝑛𝑝 𝜔 −𝑅 𝑠 𝑛𝑝 𝜓𝑓 ⎥
− 𝐿
𝑢𝑞
⎦ 𝑖𝑞 + ⎣ 𝐿𝑞 ⎦ , (1)
𝐿𝑞 𝑞
particularly in applications of electric vehicles, airplanes and 𝜔˙ 0
1.5𝑛𝑝 𝜓𝑓
−𝐵 𝜔 − 𝑇𝐽𝑙
electrical-drive tools, and so on. However, PMSMs are often 𝐽 𝐽
confronted with all kinds of disturbances. These disturbances where
may arise by internal or external factors, for instance, friction 𝑢𝑑 , 𝑢𝑞 —d and q axis stator voltages;
force, working temperature and load disturbances. Therefore, 𝑖𝑑 , 𝑖𝑞 —d and q axis stator currents;
it is very necessary to find out new methods to increase the 𝐿𝑑 , 𝐿𝑞 —d and q axes stator inductances;
PMSM robustness ability. 𝑅𝑠 —the stator resistance;
𝜔—the rotor angular velocity;
Some classical control methods, PID control [3], active
𝑛𝑝 —the number of pole pairs;
disturbance rejection control [4], adaptive control [5], back-
𝜓𝑓 —the flux linkage;
stepping control [6], sliding mode control [7], finite-time
𝑇𝑙 —the load torque;
control [8], predictive control [9] and intelligent control [10],
𝐵—the viscous friction coefficient;
have been tried on PMSMs from different aspects.
𝐽—the moment of inertia.
In recent years, many scholars have devoted their research Due to the product of the angular velocity 𝜔 and stator
to apply sliding mode variable structure control to PMSMs currents 𝑖𝑑 , 𝑖𝑞 , the PMSM model in (1) is obvious nonlinear
and other AC servo systems which have features such as
and coupling. The vector control strategy is well-known since
nonlinearity, strong coupling and time-varying [11], [12]. How-
it can decouple PMSM states, where a cascade control struc-
ever, in the application of SMC to real systems, the time and ture is used including a speed loop and two current loops.
space lags caused by switches make the system susceptible
Usually, the d-axis reference current 𝑖∗𝑑 is set as 𝑖∗𝑑 = 0 in
to chattering. Therefore, it is very important to reduce system
order to approximately eliminate the coupling between the
chattering in real applications. Literatures [13]–[15] introduced
angular velocity and stator currents. In other words, 𝜔 and
the boundary layer method to sliding mode control, which
𝑖𝑞 are decoupled if 𝑖𝑑 = 𝑖∗𝑑 = 0. Fig. 1 shows the control
adopts regular SMC outside the boundary layer and continuous
structure of the PMSM system based on vector control.
feedback control inside the boundary layer. However, if the
value of the boundary layer is relatively large, it will cause According to the formula (1), the relationship between the
steady-state error and undermine system robustness. angular velocity 𝜔 and the q-axis current 𝑖𝑞 (𝑡) is presented as
In this paper, the idea of vector control for a PMSM 1.5𝑛𝑝 𝜓𝑓 𝐵 𝑇𝑙
𝜔˙ = 𝑖𝑞 − 𝜔 − . (2)
[16]–[18] is still used to couple the speed control and the 𝐽 𝐽 𝐽
current control, where the vector control scheme includes a It can be further rewritten by introducing the Laplace trans-
speed loop and two current loops as mentioned below. For formation
the PMSM speed regulation system, a finite time disturbance 1.5𝑛𝑝 𝜓𝑓 ˜ 𝐵 𝑇𝑙
observer is used to online estimate the time varying load 𝑠˜
𝜔 (𝑠) = 𝑖𝑞 (𝑠) − 𝜔 ˜ (𝑠) − , (3)
𝐽 𝐽 𝐽
549

978-1-4799-5162-8/14/$31.00 2014 IEEE

 ˜ (𝑠) and ˜𝑖𝑞 (𝑠) are the Laplace transformation of 𝜔 and
where 𝜔 reference velocity and the real velocity. 𝑒𝜔 = 𝜔𝑟 − 𝜔 denotes
𝑖𝑞 . the regulation error. Thus, the speed error system of PMSM
has states 𝑥1 = 𝑒𝜔 and 𝑥2 = 𝑒˙ 𝜔 . The dynamic equation of
speed error system is obtained as
{
𝑥˙ 1 = 𝑥2 , (9a)
𝑥˙ 2 = 𝜔
¨ 𝑟 − 𝑈 + 𝑓 (𝑡) + 𝑑(𝑡). (9b)
The proposed sliding mode control adopts a new switching
mode, which can simultaneously include the tracking error and
its integrate signal. Based on the system (9), it introduces the
terminal attractor ∣ 𝑒 ∣𝑟 sgn(𝑒) to design a novel sliding mode
surface
∫ 𝑡
𝑑
𝑠 = ( + 𝑐1 )𝑥1 + 𝑐2 ∣ 𝑥1 ∣𝑟 sgn(𝑥1 )𝑑𝜏, (10)
𝑑𝑡 0
Fig. 1. The decoupling control diagram of PMSM system based on
vector control. where 𝑐1 > 0, 𝑐2 > 0, 0 < 𝑟 < 1.
Take the time derivative of sliding mode variable 𝑠, which
𝑖𝑞 can be expressed by the reference current 𝑖∗𝑞 and the is
q-axis voltage 𝑢𝑞 as 𝑠˙ = 𝑒¨ + 𝑐1 𝑒˙ + 𝑐2 ∣ 𝑒 ∣𝑟 sgn(𝑒). (11)
˜𝑞 (𝑠)
˜𝑖𝑞 (𝑠) = ˜𝑖∗𝑞 (𝑠) − 𝑢 , (4) Using (9), it can get
𝑘𝑝 + 𝑘𝑠𝑖
¨ 𝑟 − 𝑈 + 𝑓 (𝑡) + 𝑑(𝑡) + 𝑐1 𝑒˙ + 𝑐2 ∣ 𝑒 ∣𝑟 sgn(𝑒).
𝑠˙ = 𝜔 (12)
where 𝑘𝑝 and 𝑘𝑖 are the proportional and integral gains of PI
The equivalent control law is derived by setting 𝑠˙ = 0, which
controller in the current loop of 𝑖𝑞 . ˜𝑖∗𝑞 (𝑠) and 𝑢
˜𝑞 (𝑠) are the
ensures the error variable 𝑒 staying on the sliding mode surface
Laplace transformation of the reference current 𝑖∗𝑞 and the q-
𝑠 = 0. Then the equivalent control law is written as
axis voltage 𝑢𝑞 . With 𝑘𝑓 = 1.5𝑛𝑝 𝜓𝑓 , the angular velocity 𝜔
in (2) can be expressed with 𝑖∗𝑞 , which is ¨ 𝑟 + 𝑓 (𝑡) + 𝑑(𝑡) + 𝑐1 𝑒˙ + 𝑐2 ∣ 𝑒 ∣𝑟 sgn(𝑒).
𝑈𝑒𝑞 = 𝜔 (13)
𝑘𝑖 𝑘𝑓 𝑘𝑖 ˜∗ It is obvious that the singularity problem is avoided without
(𝑠 + )˜
𝜔 (𝑠) = (1 + )𝑖 (𝑠) the negative exponent term in (13).
𝑘𝑝 𝑠 𝐽 𝑘𝑝 𝑠 𝑞
𝑘𝑓 𝐵 𝑇𝑙 In order to robustly drive the sliding variables converge to
− 𝑢
˜𝑞 (𝑠) − 𝜔
˜ (𝑠) − . (5) zero in finite time, second order super twisting algorithm [20]
𝑘𝑝 𝐽 𝑘𝑝 𝐽 𝑘𝑝 𝐽
is used to design the switching control
∫ 𝑡
Considering a second order angular velocity model, let the 1

designed controller 𝑈 (𝑡) and the reference current 𝑖𝑞 (𝑡) have 𝑈𝑠𝑤 = 𝑘1 ∣𝑠∣ 2 sgn(𝑠) + 𝑘2 ∣ sgn(𝑠) ∣𝑟 𝑑𝜏, (14)
0
the following relationship,
where 𝑘𝑖 , 𝑖 = 1, 2 are positive controller gains.
1˜ 𝑘𝑓 𝑘𝑖 ˜∗
𝑈 (𝑠) = (1 + )𝑖 (𝑠), (6) It has been proved that the super twisting algorithm can
𝑠 𝐽 𝑘𝑝 𝑠 𝑞 stabilize the error variable 𝑒 to the sliding mode surface 𝑠 = 0
therefore the second angular velocity model is obtained as within finite time. Therefore, suppose that 𝑡𝑟 is the reaching
follows, time when 𝑠 reaches zero from 𝑠(0) ∕= 0. Once 𝑠 reaches zero,
the tracking error 𝑒 would convergence to the equilibrium point
𝐵𝑘𝑝 + 𝑘𝑖 𝐽 𝑘𝑖 𝐵 𝑘𝑓 𝑇˙𝑙 𝑘𝑖 𝑇𝑙 𝑒 = 0 in finite time according to the equivalent control law
𝜔¨ =𝑈− 𝜔˙ − 𝜔− 𝑢˙ 𝑞 − − , (7)
𝑘𝑝 𝐽 𝑘𝑝 𝐽 𝑘𝑝 𝐽 𝑘𝑝 𝐽 𝑘𝑝 𝐽 (13).
𝐵𝑘 +𝑘 𝐽 𝑘 ˙
where 𝑓 (𝑡) = 𝑘𝑝𝑝 𝐽 𝑖 𝜔˙ + 𝑘𝑘𝑖𝑝𝐵𝐽 𝜔, 𝑑(𝑡) = 𝑘𝑝𝑓𝐽 𝑢˙ 𝑞 + 𝑘𝑇𝑝𝑙𝐽 + 𝑘𝑘𝑖𝑝𝑇𝐽𝑙 Combing (13) with (14), the proposed sliding mode con-
expresses a lump uncertain term. The equation (6) is rewritten troller is derived as
as 𝑈 = 𝑈𝑒𝑞 + 𝑈𝑠𝑤 . (15)
𝜔
¨ = 𝑈 − 𝑓 (𝑡) − 𝑑(𝑡). (8)
The controller 𝑈 can achieve a continuous control for the
The control objective is to design an adaptive sliding mode speed regulation of PMSM in finite time. As the torque change
˙
controller to regulate the PMSM angular velocity. introduces the uncertainty terms 𝑘𝑇𝑝𝑙𝐽 + 𝑘𝑘𝑖𝑝𝑇𝐽𝑙 , and 𝑢˙ 𝑞 is difficult
in measuring, so we include these terms in 𝑑(𝑡) as the lump
III. A DAPTIVE S LIDING M ODE C ONTROL F OR T HE uncertainty term. The controlled PMSM is subject to parameter
PMSM S PEED R EGULATION variations and external disturbance, and the robustness of
SMC is valid only during sliding mode phase which has the
A. Sliding Mode Controller Design
requirements for the upper bound of lumped uncertainties.
It considers a speed regulation problem of a PMSM with Therefore, in order to further improve the control performance,
load change, where load uncertainties are mainly regarded an adaptive strategy is adopted by designing a disturbance
as the change of torque 𝑇𝐿 . The sliding mode variable 𝑠 is observer to estimate the lumped uncertainties online in next
designed as an integrate sliding mode surface. 𝜔𝑟 and 𝜔 are the subsection.
550
B. The Disturbance Observer Design for 𝑑(𝑡) C. Adaptive Sliding Mode Control for the Speed Regulation of
PMSM
A large sliding mode gain usually results in serious chatter-
ing. As 𝑑(𝑡) is uncertain, it needs an online observer to estimate For the system (9), the desired speed is denoted as 𝜔𝑟 and
the lump uncertainties. Let 𝑑(𝑡)ˆ be the observation variable, the speed tracking error is 𝑒 = 𝜔𝑟 − 𝜔. The sliding mode
˜
𝑑(𝑡) is denoted as the observation error, 𝑑(𝑡)˜ = 𝑑(𝑡) − 𝑑(𝑡).ˆ variable 𝑠 is designed by (10). If the disturbance observer
Lemma 1 [21]–[23]. For the following system (19) is used to estimate the lump uncertain term 𝑑(𝑡), then
the equivalent control law is adopted as
𝑥˙ = 𝑑(𝑡) + 𝑦(𝑡), 𝑥 ∈ 𝑅, (16)
ˆ𝑒𝑞 = 𝜔
𝑈 ˆ + 𝑐1 𝑒˙ + 𝑐2 ∣𝑒∣𝑟 sgn(𝑒).
¨ 𝑟 + 𝑓 (𝑡) + 𝑑(𝑡) (21)
if 𝑑(𝑡) is a continuous function and is (𝑝 − 1)-th differential
and 𝑥, 𝑦 can be measurable, then the exact finite time observer Such that the second order terminal sliding mode controller
for 𝑑(𝑡), ⋅ ⋅ ⋅ , 𝑑(𝑝−1) (𝑡) can be established as also becomes as
⎧ ˆ =𝑈
𝑈 ˆ𝑒𝑞 + 𝑈𝑠𝑤 . (22)

 𝑧˙0 = 𝜈0 + 𝑦

 1 𝑝 By integrating a finite time disturbance observer and integral

 𝜈0 = −𝜆0 𝐿 𝑝+1 ∣𝑧0 − 𝑥∣ 𝑝+1 sgn(𝑧0 − 𝑥) + 𝑧1

 sliding mode controller, we obtain an adaptive sliding mode

 𝑧˙ = 𝜈1

 1 control system to parameter uncertainties and load change. The

⎨𝜈1 = −𝜆1 𝐿 𝑝1 ∣𝑧1 − 𝜈0 ∣ 𝑝−1 𝑝 sgn(𝑧 − 𝜈 ) + 𝑧 following theorem for the stability of the whole closed loop
1 0 2
. system is listed.
..




 Theorem 1. For system (9), if the observer (19) and the

 𝑧˙𝑝−1 = 𝜈𝑝−1

 1 1
controller (22) are adopted, then the stability of the closed

 𝜈𝑝−1 = −𝜆𝑝−1 𝐿 2 ∣𝑧𝑝−1 − 𝜈𝑝−2 ∣ 2 sgn(𝑧𝑝−1 − 𝜈𝑝−2 ) + 𝑧𝑝 loop system can be guaranteed.

⎩
𝑧˙𝑝 = −𝜆𝑝 𝐿sgn(𝑧𝑝 − 𝜈𝑝−1 )
(17) Proof: The Lyapunov function of the whole closed loop
with enough large parameters 𝜆𝑖 , 𝑖 = 0, ⋅ ⋅ ⋅ , 𝑝, 𝑧0 (𝑡), 𝑧1 (𝑡), system is considered as
⋅ ⋅ ⋅ , 𝑧𝑝 (𝑡) can converge to 𝑥(𝑡), 𝑑(𝑡), ⋅ ⋅ ⋅ , 𝑑(𝑝−1) (𝑡) in finite 1 2 1 2
𝑉 = 𝑠 + 𝜀1 . (23)
time. 2 2
Assumption 1. The lumped uncertain term 𝑑(𝑡) in the sys- Its derivative can be obtained as
tem (9) is continuous and differential, and its 𝑟 order derivative
𝑑(𝑟) (𝑡) has a Lipchitz constant 𝐿, such as ∣𝑑(𝑟) (𝑡)∣ < 𝐿. 𝑉˙ = 𝑠𝑠˙ + 𝜀1 𝜀˙1
= 𝑠(¨𝜔𝑟 − 𝑈 ˆ + 𝑓 (𝑡) + 𝑑(𝑡) + 𝑐1 𝑒˙ + 𝑐2 ∣𝑒∣𝑟 sgn(𝑒)) + 𝜀1 𝜀˙1
A second order finite time disturbance observer developed ∫ 𝑡
1
from Lemma 1, is used for system (9) for disturbance estima- = 𝑠(𝜀1 − 𝑘1 ∣𝑠∣ sgn(𝑠) − 𝑘2
2 ∣ sgn(𝑠) ∣ 𝑑𝜏 ) + 𝜀1 𝜀˙1
tion.
∫0 𝑡
3
With Assumption 1, the system (9) is equal as = 𝑠𝜀1 + 𝜀1 𝜀˙1 − 𝑘1 ∣𝑠∣ 2 − 𝑘2 ∣ 𝑠 ∣ 𝑑𝜏. (24)
0
¨ 𝑟 − 𝑈 + 𝑓 (𝑡) + 𝑑(𝑡), 𝜎 = 𝑒.
𝜎˙ = 𝜔 ˙ (18)
∫𝑡
The second order finite time disturbance observer is designed Consider that 𝑘2 0 ∣ 𝑠 ∣ 𝑑𝜏 ≥ 0 always holds, 𝜀1 would
for system (18) to obtain the online estimation of the lumped converge to zero in a finite time 𝑡𝑠 according to (20), therefore,
uncertain term 𝑑(𝑡). The observer is designed as after a transient time 𝑡𝑠 , it has the conclusion
⎧ ∫ 𝑡
𝑉˙ = −𝑘1 ∣𝑠∣ 2 − 𝑘2
3

 𝑧˙0 = 𝜈0 + 𝜔
¨ 𝑟 − 𝑈 + 𝑓 (𝑡) ∣ 𝑠 ∣ 𝑑𝜏

 1 2

⎨𝜈0 = −𝜆0 𝐿 3 ∣𝑧0 − 𝑥2 ∣ 3 sgn(𝑧0 − 𝑥2 ) + 𝑧1 3
0

𝑧˙1 = 𝜈1 (19) ≤ −𝑘1 ∣𝑠∣ 2 ≤ 0. (25)


 1 1

 𝜈1 = −𝜆1 𝐿 ∣𝑧1 − 𝜈0 ∣ sgn(𝑧1 − 𝜈0 ) + 𝑧2
2 2
Since 𝑉˙ is negative semidefinite, it means the whole closed

⎩
𝑧˙2 = −𝜆2 𝐿sgn(𝑧2 − 𝜈1 ) loop system with the observer (19) and the controller (22) are
stable.
with the observer coefficients 𝜆0 , 𝜆1 , 𝜆2 . By the observer in
(19), 𝑧0 , 𝑧1 , 𝑧2 converge to 𝑥2 , 𝑑(𝑡) and 𝑑(𝑡) ˙ in finite time, The speed closed loop system with the observer and the
respectively, which also mean that 𝜀0 = 𝑧0 −𝑥2 , 𝜀1 = 𝑧1 −𝑑(𝑡) sliding mode controller is presented in Fig. 2.
and 𝜀2 = 𝑧2 − 𝑑(𝑡) ˙ would converge to zero in finite time. The
observer error equations are described by
⎧ 1 2

⎨𝜀˙0 = −𝜆0 𝐿 3 ∣𝜀0 ∣ 3 sgn(𝜀0 ) + 𝜀1
1 1
𝜀˙1 = −𝜆1 𝐿 2 ∣𝜀1 − 𝜀˙0 ∣ 2 sgn(𝜀1 ) + 𝜀2 (20)

⎩𝜀˙ ∈ −𝜆 𝐿sgn(𝜀 − 𝜀˙ ) + [−𝐿, 𝐿].
2 2 2 1

The convergence proof for (20) can follow from Levant (2003),
Davila and Fridman (2005), where 𝜀0 → 0, 𝜀1 → 0 and 𝜀2 → 0 Fig. 2. The speed closed loop control scheme for the PMSM
in finite time are illustrated in detail. system.
551
 Referring to the control diagram in Fig. 1, the real output 4.5
Tl

of the speed controller is the q-axis reference current 𝑖∗𝑞 (𝑡).

The output of adaptive sliding mode controller should be 𝑖∗𝑞 (𝑡).
With the relationship between 𝑈 (𝑡) and 𝑖∗𝑞 (𝑡) expressed in (6),
4

T ( Nm)
the signal of 𝑖∗𝑞 (𝑡) is obtained by

l
𝑘𝑝 𝐽
3.5

˜𝑖∗𝑞 (𝑠) = ˜ (𝑠).

𝑈 (26)
𝑘𝑓 (𝑘𝑝 𝑠 + 𝑘𝑖 )
3
The adaptive sliding control scheme for PMSM speed regula- 0 0.2 0.4
t(s)
0.6 0.8 1

tion is shown in Fig. 3. (a) The change of torque

6
x 10
4

3.5 Û

2.5

1.5

Û
1

0.5

ˆ (𝑡) and 𝑖∗𝑞 (𝑡) in the PMSM system.

Fig. 3. The relationship of 𝑈
−0.5

−1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t (s)

IV. S IMULATION A NALYSIS (b) The control signal

To demonstrate the performance of the proposed control 2
ud
scheme, some simulation studies have been done here. 1

The parameters of a PMSM system in the simulation are 0

listed as follows. The number of poles 𝑛𝑝 = 2, the rated power −1

u (V)
is 𝑃 = 750𝑊 , the rated torque 𝑇𝑙 = 4𝑁 𝑚, which changes
d
−2

with different loads, the armature resistance 𝑅𝑠 = 1.74Ω, rotor −3

flux linkage 𝜓𝑓 = 0.402𝑤𝑏, stator inductances 𝐿𝑑 = 𝐿𝑞 =

0.004𝐻, the viscous damping 𝐵 = 7.403 ∗ 10−5 𝑁 ⋅ 𝑚 ⋅ 𝑠/𝑟𝑎𝑑,
−4

the moment of inertia 𝐽 = 1.74 ∗ 10−4 𝑘𝑔 ⋅ 𝑚2 . −5

0 0.2 0.4
t (s)
0.6 0.8 1

(c) The d axis stator voltage

A. A Sudden Load Change
300

The desired speed of PMSM is 𝜔𝑟 = 150𝑟𝑎𝑑/𝑠, although 250

uq

the torque changes with loads from 4𝑁 𝑚 to 3.5𝑁 𝑚, which the 200

load is suddenly decreased at 0.5𝑠. The used adaptive sliding 150

mode controller is (22), where 𝑐1 = 20, 𝑐2 = 100, 𝑘1 = 20000,

u (V)

100

𝑘2 = 20000. The simulation period is 1𝑠.

q

50

Fig. 4 shows the change of torque, the control signal 𝑈 ˆ, 0

the d axis stator voltage 𝑢𝑑 and the q axis stator voltage 𝑢𝑞 . −50

−100
0 0.2 0.4 0.6 0.8 1
The disturbance observer in (19) is adopted to estimate t (s)

the lumped uncertainties, 𝑒˙ is as the known values. The
observation results are presented in Fig. 5, where 5(a) and
5(b) is the observation values to 𝑒˙ and 𝑑(𝑡).˙ It can see that
𝑒ˆ˙ really reproduce 𝑒˙ after a short transient process. Fig. 5(b)
ˆ˙
illustrates 𝑑(𝑡) the lumped uncertainties are fast time varying.
Fig. 5(c) gives the used 𝑑(𝑡) ˆ in (21). It can be observed
ˆ
that the observation value 𝑑(𝑡) has well estimated the lumped
ˆ has a good approximation to 𝑑(𝑡).
uncertainties. 𝑑(𝑡)
Fig. 6 presents the current change when the torque changes,
where the q axis current declines with the decreasing torque
and the d axis current always goes with 𝑖∗𝑑 = 0.
Fig. 7(a) describes the speed control performance with the
proposed adaptive sliding mode controller in (22). From 𝑡 = 0
to 𝑡 = 0.5𝑠, the torque does not change, but the speed 𝜔 is
very closed to 𝜔𝑟 = 150𝑟𝑎𝑑/𝑠 with a litter tracking error. The
existing tracking error illustrates that the tracking control needs
552
(d) The q axis stator voltage
ˆ , 𝑢𝑑 and 𝑢𝑞 in the PMSM system with the torque 𝑇𝑙
Fig. 4. 𝑈
change.
more time to decrease the tracking error, or the gains are not
enough big to improve the tracking process. Fig. 7(b) shows
the control performance of the speed regulation of PMSM with
𝑇𝑙 = 4𝑁 𝑚 from 𝑡 = 0 to 𝑡 = 2𝑠, which means the speed
regulation control can enough approach to the desired speed
values with the gains 𝑐1 = 20, 𝑐2 = 100, 𝑘1 = 20000, 𝑘2 =
20000. If the regulation process is expected to accelerate the
response, the larger gains are necessary. Fig. 7(c) presents the
speed regulation performance with 𝑐1 = 50, 𝑐2 = 625, 𝑘1 =
20000, 𝑘2 = 20000 with load change from 4𝑁 𝑚 to 3.5𝑁 𝑚
at 𝑡 = 0.5𝑠, which shows that the transient regulation is more
fast with large gains and the robustness is also better when a
 4
x 10 200
2.5 wr
ė
z0 w
2 150

1.5
100
1

(rad/s)
50
0.5

0 0

−0.5
−50
−1

−100
−1.5 0 0.2 0.4 0.6 0.8 1
0 0.2 0.4 0.6 0.8 1 t (s)
t (s)

(a) 𝑒(𝑡)
˙ and 𝑧0 (𝑡) (a) The speed response with the torque change
6
x 10
5 200
ˆ˙
d(t) wr
4
w
150
3

2 c1=50,c2=625
100
1

(rad/s)
0 50

−1
0
−2

−3
−50
−4

−5 −100
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
t (s) t (s)

ˆ˙ (b) The speed response

(b) 𝑑(𝑡)
6
x 10
2 200 wr
d(t)
ˆ
d(t) w
1.5 150

1 100

(rad/s)
0.5 50

0 0

−0.5 −50

−1 −100
0 0.2 0.4 0.6 0.8 1 0 0.5 1 1.5 2
t (s) t (s)

(c) 𝑑(𝑡) and 𝑧1 (𝑡) (c) The speed response by increasing gains

˙ and 𝑑(𝑡) by the disturbance Fig. 7. The speed regulation performance with different gains.
Fig. 5. The estimated values 𝑒(𝑡),
˙ 𝑑(𝑡)
observer in (19).
sudden load change happens.
2.5
i*q
iq
2

B. A Continuous Load Change

1.5

In the previous simulation, the torque suddenly changes,

(A)

1
which can be expressed as the step signal. In this subsec-
0.5 tion, the torque continuously changes in a sine signal with
time, which is designed as 𝑇𝑙 = 4𝑁 𝑚, 0 < 𝑡 < 𝜋8 and
0
0 0.2 0.4
t (s)
0.6 0.8 1 𝑇𝑙 = 4 sin(4𝑡)𝑁 𝑚, 𝑡 > 𝜋8 , which is shown in Fig. 8(a). Other
parameters are as the above. The desired speed of PMSM is
(a) The q axis current also 𝜔𝑟 = 150𝑟𝑎𝑑/𝑠. The simulation period is 3𝑠. The adaptive
0.02
sliding mode controller in (22) is still used with gains 𝑐1 = 50,
0.015
*
id
id
𝑐2 = 625, 𝑘1 = 20000, 𝑘2 = 20000, which is presented in Fig.
0.01
8(b). Figs. 8(c) and 8(d) describe the curves of the d axis stator
0.005
voltage 𝑢𝑑 and the q axis stator voltage 𝑢𝑞 . Fig. 9 shows the
disturbance estimation for 𝑑(𝑡) when a continuous sine load
(A)

−0.005
signal is used.
−0.01

−0.015
Fig. 10 describes the curves of q axis and d axis currents
−0.02
with the control variable shown in Fig. 8(b). Fig. 11 gives
0 0.2 0.4
t (s)
0.6 0.8 1
the result of the speed regulation with a continuous sine load
(b) The d axis current
signal, which illustrates the proposed adaptive sliding mode
controller can provide good control to realize the tracking to
Fig. 6. q axis and d axis currents with the torque change.
the desired angle speed even that the load is varying.
553
 0.02
6
*
Tl id
0.015 i
d
4
0.01

2 0.005
T (Nm)

(A)
0
0
l

−0.005
−2
−0.01

−4 −0.015

−0.02
−6 0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3
t (s)
t (s)

(a) The change of torque (a) The d axis current

6
x 10 2.5
4 i*q
Û 2
3.5 iq

1.5
3

2.5 1

2 0.5

(A)
1.5
Û

1 −0.5
0.5
−1
0
−1.5
−0.5
−2
−1 0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 t (s)
t (s)

(b) The q axis current

(b) The control signal
Fig. 10. q axis and d axis currents when the torque change.
5
ud
4
200
3 wr
w
2
150
1
u (V)

0 100
d

−1
(rad/s)

50
−2

−3
0
−4

−5 −50
0 0.5 1 1.5 2 2.5 3
t (s)

−100
0 0.5 1 1.5 2 2.5 3
(c) The d axis stator voltage t (s)

300 Fig. 11. The speed regulation performance with a continuous load
uq
250 change.
200

150

V. C ONCLUSION
u (V)

100
q

50
The continuous adaptive sliding mode controller has been
0
used for the speed regulation of a PMSM system. The distur-
−50
bance observer is introduced for estimating disturbances. The
−100
0 0.5 1 1.5
t (s)
2 2.5 3 simulation results have been given based on the proposed con-
troller, which shows the good speed regulation performance on
(d) The q axis stator voltage tracking the desired speed of PMSM with torque disturbances.
ˆ , 𝑢𝑑 and 𝑢𝑞 in the PMSM system with the torque 𝑇𝑙
Fig. 8. 𝑈
change. ACKNOWLEDGMENT

x 10
6
This work has been partly supported by National Nat-
2
d(t)
ural Science Foundation of China (NSFC) (51377065,
1.5
z1
61301035 and 61304018), National High-Technology Re-
1
search and Development Program (863 Program) of China
(2014AA051901), Hubei Province Science and Technology
0.5
Supporting Program (XYJ2014000314), and Research Inno-
0 vation Program of Huazhong University of Science and Tech-
−0.5
nology (2014TS149).
−1
0 0.5 1 1.5
t (s)
2 2.5 3
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Fig. 9. ˆ by the disturbance observer in
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