This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPEL.2019.2933613, IEEE
Transactions on Power Electronics

A New Reaching Law for Anti-disturbance

Sliding-mode Control of PMSM Speed Regula-
tion System
Yaoqiang Wang, Member, IEEE, Yutao Feng, Xiaoguang Zhang, Member, IEEE, and Jun Liang, Senior
Member, IEEE
Abstract—In this paper, in order to optimize the dynamic per- precision CNC machine tools, robot, aerospace and other fields
formance of the permanent magnet synchronous motor (PMSM) [1], [3], [8]. But at the same time, the PMSM is a complex
speed regulation system, a nonlinear speed-control algorithm for control object with multi variable, strong coupling, nonlinear,
the PMSM control systems using sliding-mode control (SMC) is and variable parameters [2], [3]. If the traditional linear control
developed. First, a sliding-mode control method based on a new
sliding-mode reaching law (NSMRL) is proposed. This NSMRL
method such as proportional-integral (PI) is adopted, the con-
includes the system state variable and the power term of sliding trol precision can only be met within a certain range. At the
surface function. In particular, the power term is bounded by the same time, the PI control method depends on the accuracy of
absolute value of the switching function, so that the reaching law the system model, which is highly susceptible to external dis-
can be expressed in two different forms during the reaching turbances and internal parameter changes. All these may make
process. This method can not only effectively suppresses the the control system deviating from the expected target [3].
inherent chattering, but also increases the velocity of the system Therefore, in order to solve the problems of traditional PI
state reaching to the sliding-mode surface. Based on this new controller, some nonlinear control theories are proposed and
reaching law, a sliding-mode speed controller (SMSC) of PMSM developed, e.g., fuzzy control [4], auto disturbance rejection
is designed. Then, considering the large chattering phenomenon control [5], predictive control [6],[7], sliding-mode control
caused by high switching gain, an improved anti-disturbance
(SMC) [8]–[10] and neural network control [11]. Among them,
sliding-mode speed controller(ADSMSC) method, called
SMSC+ESO method, is developed. This method introduces an sliding-mode control has become a research hotspot because of
extended state observer (ESO) to observe the lumped disturb- its low requirement on model accuracy and strong robustness
ance and adds a feedforward compensation item based on the to external interference. Sliding-mode control has been suc-
observed disturbances to the SMSC. Finally, simulation and ex- cessfully applied in motor speed regulation system [8], [13],
perimental results both show the validity of the proposed control [14]. A fuzzy sliding-mode speed controller applied to PMSM
method. can be found in [12]. In [15], a hybrid control method based on
Index Terms—permanent magnet synchronous motor (PMSM), sliding-mode controller was applied to the closed loop control
anti-disturbance sliding mode speed controller (ADSMSC), new system of PMSM, and the results are very conclusive regarding
sliding-mode reaching law (NSMRL), extended state observer the effectiveness of the sliding-mode controller. In addition, a
(ESO). neural network sliding-mode control method was proposed in
[16] to improve speed tracking precision.
I. INTRODUCTION However, the sliding-mode method is not flawless; indeed,
Permanent magnet synchronous motor (PMSM) has many in practical applications, there are time delays in switching
advantages, i.e., simple structure, high power density and high control law, which leads to high-frequency dynamics, known
efficiency. PMSM has been widely used in the fields of high as chattering. Thus, many alternative methods have been pro-
posed to overcome the chattering phenomenon, such as
Manuscript received xx xx, 2019; revised xx xx, 2019; accepted xx xx, 2019.
reaching law method [10], [17], high-order sliding-mode
Date of publication xx xx, 2019; date of current version xx xx, 2019. This work
was supported in part by the National Natural Science Foundation of China method [18], [19], nonsingular terminal sliding-mode [20],
under Grant 51507155, and the National Natural Science Foundation of China and fractional-order sliding-mode [21]. Among them, since the
under Grant 51877002. Recommended for publication by Associate Editor reaching law method can directly act on the reaching process,
xxxx. (Corresponding author: Xiaoguang Zhang.)
it can more effectively solve the chattering problem. In [22], a
Yaoqiang Wang is with the School of Electrical Engineering, Zhengzhou
University, Zhengzhou 450001, China (e-mail: [email protected]). practical discrete-time fractional-order terminal sliding-mode
Yutao Feng is with the Zhengzhou University, Zhengzhou 450001, China, variable structure speed controller was designed. The experi-
and China Aviation Optical-Electrical Technology Co., Ltd., Luoyang 471003, mental results show that the dynamic performance of the con-
China (e-mail: [email protected]).
trolled system is improved. In [23], the terminal switching
Xiaoguang Zhang is with the North China University of Technology, Beijing
100144, China (e-mail: [email protected]). gain term was added on the basis of the conventional expo-
Jun Liang is with the Zhengzhou University, Zhengzhou 450001, China, and nential approach law, and the saturation function was de-
Cardiff University, Cardiff CF24 3AA, U.K. (e-mail: [email protected]). signed to replace the switching function. The simulation re-
Color versions of one or more of the figures in this paper are available online
sults show the effectiveness of the proposed method. [24]
at http://ieeexplore.ieee.org.
Digital Object Identifier xxxxx/TPEL.xxxx.xxxx added the terminal attractor on the basis of the traditional
reaching law, which guarantees the system still have a fast

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reaching speed near the sliding-mode surface, but exists com- system, which are discontinuous on the switch surface.
plex parameter adjusting and so on. SMVSC enables the state trajectory to reach the predeter-
Conventionally, in SMC the switching gain should be set mined sliding-mode surface and converge along the slid-
large enough to offset the system disturbance in order to ing-mode surface to state origin. However, the stability condi-
guarantee strong robustness and stability of the system, i.e., tions can not reflect how the system reaches the sliding-mode
the minimum switching gain must increase along with the surface.
increasing system disturbance. However, in practice, the up- In contrast, reaching law method can ensure the motion
per bound of the system disturbance is difficult to determine; phase quality of the system. Choosing an appropriate reaching
meanwhile, owing to the switching function in the control law, law can make the system have a greater reaching speed and
the large switching gain will lead to the occurrence of accelerate the dynamic response of the system when state
high-frequency sliding-mode chattering. Thus, to alleviate vector is far away from the sliding-mode surface. As the slid-
drawbacks above, combining the SMC with other reaches ing-mode surface is reached, its reach speed decreases to zero
which estimate the disturbance is an attractive proposition. to guarantee the state vector stay on the surface. Fig.1 shows
Recently, the nonlinear disturbance observer control methods how this mechanism takes place in the phase plane.
for mismatched uncertainties [25], [26] have been thoroughly e
studied, which show that the mismatched disturbance can be
eliminated from the output by designing the observer for the
feed-forward compensation, and the system performance will
not be affected simultaneously. In [27]–[30], this method has
been practically tested on the robotics, the converters and the  e(0), e(0)  e
PMSM speed regulation system. The results show that, a good
robustness performance can be achieved.
In this paper, in order to further improve the dynamic per- S=0
formance of the PMSM speed regulation system, a new Fig.1. Sliding-mode mechanism in phase plane.
reaching law is proposed. On the basis of the traditional ex-
ponential reaching law (TERL), the system state variable and The exponent reaching law was first proposed and designed
the power order term of the sliding-mode function are intro- by academician Weibing Gao [31], which can be shown as
duced in the NSMRL. When the power term is bounded by the ds
    sgn( s )  ks,  >0,k >0   (1)
absolute value 1 of the switching function, the reaching law can dt
be expressed as two different reaching forms, which can not where εsgn(s) represents isokinetic reach term; ks represents
only increase the velocity of the system state reaching the index reach term; s is a sliding-mode surface function.
sliding surface, but also ensure the system state smoothly For conventional pure exponential reaching law, it can not
reaches the switching surface. Then, taking into account the reach the sliding-mode surface in a limit time. Therefore, the
effect of lump disturbance, especially load disturbance, an isokinetic reach term εsgn(s) is added to ensure when s is
extended state observer (ESO) based on hyperbolic tangent close to 0, the reaching velocity is ε instead of 0.
function (HTF) is designed to observe the disturbance, and it However, although the accessibility problem is solved by
is used as the feed-forward compensation part be added to the adding isokinetic reach term, the exponential reaching law
SMSC. The contributions of the paper are: 1) a speed control- reaching to the sliding-mode surface speed is determined by
ler based on a new sliding-mode reaching law is designed for the design value of the parameter k, which makes it contra-
PMSM. 2) the ESO based on HTF is introduced to the SMSC dictory to increase the reaching speed and reduce the sliding
to observe the lump disturbance, instead of the traditional load chattering. The analysis is as follows:
torque observer. 3) the anti-disturbance sliding mode speed In (1), when s > 0, it can be obtained that
controller (ADSMSC) has good dynamic performance and ds
strong disturbance rejection ability for uncertain load torque.      ks   (2)
The rest of this paper is organized as follows. The proposed dt
NSMRL and its performance analysis are introduced in section and the reaching time can be calculated by integrating (1)
II. In section III, combined with PMSM mathematical model, from 0 to t, with s(t)=0
the design process of ESO-based ADSMSC is given, and the 1   
  t *  ln  s (0)    ln    (3)
stability proof is given. In section IV, the ESO-based AD- k  k k
SMSC is tested on PMSM speed regulation system, and the One can see from (3) the reaching speed increases with a
results are compared to traditional PI regulator. Section V high value of k. Therefore, to have a faster reaching perfor-
finally summarizes the paper. mance, k should be increased; however, a high k can lead to
II. NSMRL DESIGN AND ANALYSIS excessive speed when reaching the sliding surface, which will
  increase the chattering level. Thus, if the coefficient of the
A. Reaching Law Sliding-mode Design index term can be set as a variable and its value be combined
The main characteristic of sliding-mode variable structure with the distance between the system state point and the slid-
control (SMVSC) is the structure of control law and control ing-mode surface, the contradiction caused by the selection of

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Transactions on Power Electronics

k value can be solved. This also provides an idea for propos- e(t )  d   (t )
ing the new reaching law in the following paragraphs.      (8)
e(t )  d  (t )
B. The Proposed NSMRL where θd(t) is an ideal position signal.
The NSMRL is realized based on conventional exponential Next, combining (5), (6), (7) and (8), it can be obtained that
reaching law, which can adapt to the variations of the slid- s(t )  ce(t )  
e (t )
ing-mode surface and system state. The reaching law is given
   c d  (t )   d  (t ) 
   (9)
by
 ds a b sgn( s 1)  c d  (t )   d  f ( , t )  hu  d 
 dt   x sgn( s)  k s s
     (4) Based on the new reaching law, according to (4) and (9),
lim x  0,   0, k  0, 0  a  1, 0  b  1 the improved sliding-mode control rate is given by
 t 
1 a b sgn( s 1)
where x represents the system state. u (t )  [ x sgn( s )  k s s
By analyzing the reaching law stated in (4), the following   h   (10)
conclusions can be obtained:  c(d  )    f ( , t )]
If the system state is far away from the sliding-mode sur- Using MATLAB s function, a simulation is carried out
face, i.e., s>1, then sgn(|s|–1)=1, and the system state reaches among TERL, the reaching law in reference [8] (RLR8) and
sliding-mode surface according to two rate of variable speed NSMRL, and the simulation parameters are set as follows:
reaching law ε|x|asgn(s) and variable index reaching law c=15，ε=10，k=20，a=0.5 and b=0.3. The system ideal position
k|s|bs . Moreover, if |s| decreases, then |s|bs reaches 1, k|s|bs signal θd is set as sin(t). The initial state of the controlled ob-
converges to k and ε|x|a converges to ε. This means that, while ject x(0) is set as [x1, x2]=[-2, -2].
the system state reaches sliding-mode surface, the coefficients
of the reaching law decrease gradually to restrain chattering.
On the other hand, if system state is close to the sliding-mode
surface, i.e., s<1, then the reaching rate of TERL will decrease
to zero. On the contrary, because of the limit of absolute value
sign function in new reaching law, then sgn(|s|-1)= -1 and the
reaching velocity of the variable exponential term is k|s|-bs,
obviously there is k|s|-bs>k|s|bs, which increases the reaching
speed of variable index reaching law.
Thus, in the whole process from the initial state to the slid-
ing-mode surface, the reaching speed of the NSMRL is al-
ways faster than the TERL. Besides, the introduction of the
system state variable and the power order term of the slid-
ing-mode function restrain the shortcoming of chattering
phenomenon.

C. Performance Analysis of NSMRL

In order to take a comparative analysis between TERL and
NSMRL, a typical motor system shown in (5) is established as
  J  u (t )  d (t )   (5)
where J is rotary inertia; θ(t) represents position instruction;
u(t) represents control input; d(t) represents external disturb-
ance.
The controlled system is assumed as
  (t )   f ( , t )  hu (t )  d (t )   (6)
where f(θ，t)=25  and h=133 are set as known conditions; d(t)
is set as 10sin(πt).
Assuming that θd is an ideal position signal, than the error
signal e can be expressed as θd –θ. The sliding-mode surface
function s is defined as
  s  e  ce   (7)
where c>0 satisfies the Hurwitz condition.
When the sliding-mode surface function is determined, the
position tracking error and its reciprocal can be defined as

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surface at every step. The two types above shown in Fig.3 are
referred to as quasi-sliding-mode of discrete variable structure
control.

Fig.3. Quasi-sliding-mode diagram

If the sliding-mode surface s is near to 0, the proposed

NSMRL in (4) can be simplified as ds/dt ≈ -ε|x|asgn(s). Its
discrete expression is expressed as
Fig.2. Performance comparison among TERL, the reaching law in reference
s  n  1  s  n    T x sgn  s ( n )   
a
[8] (RLR8) and NSMRL. (a) Tracking performance of TERL. (a1) Tracking
  (13)
performance of the RLR8. (a2) Tracking performance of NSMRL. (b) Con- where T represents the sampling period.
troller output of TERL. (b1) Controller output of the RLR8 (b2) Controller Assuming that the system motion trajectory reaches the
output of NSMRL. (c) Position error convergence rate of TERL. (c1) Position
error convergence rate of the RLR8. (c2) Position error convergence rate of sliding-mode surface in finite step, which implies that s(n)=0+
NSMRL. (d) Phase trajectory of TERL. (d1) Phase trajectory of the RLR8. or s(n)=0-, then the equation of the next period can be ob-
(d2) Phase trajectory of NSMRL. tained with s(n)=0+:
s  n  1   T x  
a
Fig.2 shows the performance comparison diagram among   (14)
TERL, the reaching law in reference [8] (RLR8) and NSMRL. -
Similarly, when s(n)=0 , the next periodic equation is
We can get the conclusions that the NSMRL is obviously su-   s  n  1   T x  
a
(15)
perior to the TERL in tracking given signal, reducing the po-
sition tracking error, improving the differential convergence according to (14) and (15), the thickness ζ of the discrete
speed of the position tracking error and restraining the chat- sliding-mode band for (13) is
a
tering. Moreover, the NSMRL can track without delay and     2 T x   (16)
overshoot. Therefore, compared with the RLR8, the NSMRL also, when the sliding-mode surface s approximated to 0, the
proposed in this paper has the advantages of faster reaching TERL reaching velocity is determined by isokinetic reach
speed and better stable controller output effect. term and the discrete form is as follows:
  s1 ( n  1)  s1 ( n)  1T sgn  s1 ( n)    (17)
D. The Discrete form of NSMRL
In practical engineering applications, the real time comput- Then again, the thickness ζ1 of the discrete sliding-mode
er control is a discrete control system. Due to the inherent band for (17) is
characteristics of discrete control, the existence, accessibility   1  21T   (18)
and stability of the sliding mode are different from that of the
continuous system. Thus, in this section, from the viewpoint
of discrete, the discrete form of the proposed NSMRL is given
when the sliding-mode surface is near to 0 and the perfor-
mance is compared with TERL in the discrete state.
In discrete system, the sliding-mode surface function is de-
signed as
  s  k   Cx  k    (11)
where C = [c1 … cn] and cn=1.0.
Next, the switching band that surrounding the switching Fig.4. Comparison of state trajectories between TERL and NSMRL.
surface is represented as
By analyzing (18), as shown in Fig.4 (a), the switching
  
S   x  R n |   s  x   cx     (12)  bandwidth of TERL is a fixed value, which makes the system
It needs to be explained that the sliding state of discrete state fail to reach the equilibrium origin (0,0) stably, but tend
systems starting from any initial state can be divided into two to be the chattering between (-ε1T,ε1T); In contrast, because of
types after reaching the sliding surface in finite step: 1) the power term of state variable is introduced in (16), as
reaching the sliding-mode surface s and moving on it; 2) shown in Fig.4 (b), which can make the system converge to
moving in the switching band and step through the switching the equilibrium origin (0,0) steadily under the control law.

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Besides, this advantage also provides a possibility for speed Selecting the parameters g and d, and their expression is as
controller designed in following section to eliminate speed follows
tracking error.  g   iq  r   TL
 (24)
 
  
 
III. DESIGN OF ANTI-DISTURBANCE SLIDING-MODE SPEED  d   iq  i q  r   TL
CONTROLLER BASED ON NSMRL Then, the equation (23) can be rewritten as
 
A. PMSM Mathematical Model    r   iq  g  d   (25)
The stator current equation of the PMSM speed control among them, g is estimated by adaptive law, and the load dis-
system in the d-q rotating coordinate system is expressed as turbance d is observed by ESO and feedforward to obtain bet-
 did ter control effect.
 dt   ud  Rid  ed  / L Assume that the first-order system state equation is ex-
     (19) pressed as
 diq  u  Ri  e / L
 dt q q q   x1  t   f  x1   hu  t 
(26)
    
where ud , uq and id , iq represent the voltages and currents of d-  y  t   x1  t 
and q- axis, respectively; R represents the stator resistance; L where h is a constant greater than zero; f(x1) represents a
represents the stator inductance. ed and eq represent the motor bounded nonlinear perturbation function; u(t) is the control
back electromotive force, respectively. input.
ed  e Lq iq If x2(t) is chosen as the expansion variable and x2(t) = f(x1),
 i.e., x2  t   w  t  , then system (26) can be expanded as
  
eq  e Ld id   f   
(20)
  x1  t   x2  t   hu  t 
e  pr 
where Ld and Lq represent d- and q- axis inductances; e and
   x2  t   w  t    (27)

r represent electrical angular velocity and mechanical angu-  y  t   x1  t 
lar velocity, respectively; p is the pole number of the motor. In (27), if u  t   iq and x1  t   r , by combining (25),
The mechanical motion equation of PMSM is written as (26) and (27), the ESO of PMSM control system based on
d r hyperbolic tangent function (HTF) can be obtained as
  J  Te  Br  TL   (21)
dt e1  t   z1  t   r  t 
where J represents moment of inertia; TL represents load 
 z1  t   z2  t   g   i q  1e1  t   

torque; B represents viscosity coefficient; Te represents elec-   (28)

 z2  t     2 tanh   3 e1  t  
tromagnetic torque, and for surface-mount PMSM, the elec-
tromagnetic torque t can be expressed as
  Te  1.5 p f iq   (22) As known from reference [28], the speed feedback signal of
PMSM is observed by z1, and the load disturbance torque d is
observed by z2. Based on these, compensation of disturbances
B. Design of ADSMSC with ESO can be achieved. In addition, according to the principle of
The SMC is essentially a kind of switching control. In gen- parameter selection in reference [28], parameters β1, β2 and β3
eral, the required switching gain value must be larger than the can be selected to satisfy 1  23  0 .
upper bound of the lumped disturbances. Thus, if the disturb-
Next, the speed tracking error is defined as
ances are observed and then are feed-forward compensated,
the required switching gain just needs to be larger than the   e    r  r   (29)
upper bound of the disturbance compensation error, which is where  r represents the given speed reference value; r rep-
usually much smaller than that of the lumped disturbance,
such that the system chattering will be reduced effectively. resents the actual speed.
Based on this, this paper proposes an anti-disturbance sliding Then the variation law of speed tracking error equation can
mode speed controller (ADSMSC) with disturbance observa- be expressed as
tion and compensation capability instead of the conventional   e   r   iq  g  d   (30)
PI speed controller to improve the dynamic performance of In this paper, the speed tracking error e is taken as an inde-
the system. pendent variable, and the integral sliding surface is selected as
When considering the influence of parameter uncertainties, t
the equation of motion of a PMSM can be expressed as   s  ec 0 e   d c  0  (31)
   r       iq      r       TL   (23) What needs to be explained here is that the reason for how
where χ = 3n2pΨf/2J；η
= B/J；γ = np/J；Δχ, Δη, and Δγ represent to select the correlation between the system state variable and
the motor parameter change values, respectively. the reach speed is as follows. x  e is selected as state variable,
which represents the speed tracking error. For the speed con-

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Transactions on Power Electronics

trol system, the speed tracking error is an important perfor- IV. SIMULATION AND IMPLEMENTATION VERIFICATION
mance evaluation index. Therefore, choosing x as the  
state-associated amount with the reach speed can directly af- In this section, to demonstrate the effectiveness of AD-
fect the error information on the sliding-mode reach speed, so SMSC based on NSMRL, the simulations and experiments of
that when the speed tracking error is large, the reach speed is PI controller and the ADSMSC in one PMSM system were
relatively large, and vice versa. In this way, the purpose of carried out. The block diagram of PMSM speed-regulation
accelerating the reaching velocity and meanwhile reducing system is shown as Fig.6.
system chattering can be achieved. It should be noted that when using the standard PI algo-
To sum up, combining the designed new reaching law (4) rithm for the speed controller for comparison here, it is very
with (30) and (31), the output signal of speed loop controller, difficult to guarantee a good closed-loop performance in dif-
i.e. q-axis current reference value can be obtained as ferent conditions, either large overshoots for fast responses or
1 small overshoots but with slow responses. Therefore, an anti-
  iq   r  gˆ  d   x sgn( s)  k s s  ce  (32)
a b sgn( s 1)
  windup PI algorithm [32] is employed here for the speed loop.
Please note that when no confusion will arise, in the following
where d  represents the feedforward compensation part of descriptions, we simply refer such antiwindup PI controller as
ESO; ĝ is the estimated value of the parameter uncertainty, PI controller. The main idea of this antiwindup strategy can be
which is updated according to the adaptive law shown in (33). described as follows:
  gˆ   s   0   (33)   e1 (k )   r (k )  r (k )   (36)
If iq (k  1)  I q max , then
C. Stability Proof
0, e1 (k )  0
Defining the parameter estimation error as g  g  gˆ , and       (37)
1, e1 (k )  0
having g   gˆ , then, the Lyapunov function can be con-
structed as If iq (k  1)   I q max , then
1 2 1 1 2 0, e1 (k )  0
  V
s   g   (34)       (38)
2 2  e1 (k )  0
1,
Combining (4), (30) and (33), the derivation of (34) can be
obtained as If  I q max  iq (k  1)  I q max , then   1 .
1  1  k
V  ss  gg    s  e  ce   gg
 
   iq (k )  k p  e1 (k )  ki   e1 (k )   (39)
i 0


 s  r   iq  g  d  ce  gg

1 
  The motor parameters used in this simulation are given in
Table I.
  s  x sgn( s)  k s
a bsgn( s 1) 
s  TABLE I
      (35) PARAMETERS OF THE MOTOR
a
s[ r   iq  gˆ  d  ce   x sgn( s)  Parameter and unit Value
Rated power P n /kW 0.4
bsgn( s 1) 1 
k s s]  gs
  
gg Inductance L d = L q /mH 6.71
 Flux linkage of permanent magnets Ψ a /Wb 0.175
Stator phase resistance R/Ω 1.55
  s  x sgn( s)  k s
a bsgn( s 1) 
s  0 Viscous friction coefficient B/Nꞏmꞏs 0.000 3
  Rotational inertia J/kgꞏm2 0.000 2
When the parameter selection satisfies   0 , k  0 ,  
0  a  1 and 0  b  1 , then V  0 is established. It is A. Simulation Verification
known from the Lyapunov stability theorem that the designed Using the PMSM vector control structure with id = 0, a
sliding-mode controller is progressively stable. simulation model was built using Matlab/Simulink.

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Speed controller
DC Power
Park-1
 *
r e SMSC
iq *
uq u SVPWM
PI d,q
 Equation(32)  Three-
 z2  phase
ud u
z1 ESO PI , inverter
Equation(28)
 ua ub uc
r id *  0 iq i iA
 d,q ,

id i iB
, a , b, c
Current controllers and
coordinate transformation Park Clark
Position and Speed
PMSM
Detection
Fig.5. Block diagram of PMSM speed-regulation system.

The simulation block diagram of PMSM speed regulation disturbances, the motor starts with no-load torque, and when
system based on SMSC+ESO is shown in Fig.5. As can be running to 0.2 s, the load torque suddenly increases to 1.27
seen from the figure, ESO estimates the load disturbance and Nꞏm, and at 0.3 s, the load torque is discharged to 0.65 Nꞏm.
compensates the results to SMSC, while the SMSC replaces The group two simulation results are shown in Fig. 6 (b)-(d)
the PI controller in the conventional speed loop. and Fig.7 (b)-(d). Moreover, the PI parameters of both current
The simulation is divided into two groups, and the simula- loops are the same as: kpc = 1.1，kic = 0.06. The PI parameters
tion parameters are set as follows. For group one, the simula- of the speed loop is that proportional gain kp = 0.11, the inte-
tion time t is set to 0.4 s, and the given speed is 1000 r/min. gral gain ki = 15 and 0  0.998 .The parameters of the
The group one simulation results are shown in Fig.6 (a) and SMSC+ESO controller are: a =0.6, b =0.3, c =20, ε = 5, k =
Fig.7 (a). For the other group, the simulation time t is also set 23, β1 = β2 = 160, β3 = 0.85.
to 0.4 s. In order to verify the dynamic response of the load

Fig.6. Simulation results of dynamic response of startup and load mutation under PI control. (a) Speed (b) Three-phase current (c) Torque change in the case of
load disturbances (d) Speed fluctuation in the case of load disturbances

Fig.7. Simulation results of dynamic response of startup and load mutation under SMSC+ESO control. (a) Speed (b) Three-phase current (c) Torque change in the
case of load disturbances (d) Speed fluctuation in the case of load disturbances

From the simulation results shown in Fig.6 (a) and Fig.7 (a), SMSC+ESO controller based on NSMRL, the system has
we can draw the following conclusions. Compared to the better dynamic performance. The electromagnetic torque al-
speed regulation system controlled by PI, the SMSC based on most has no fluctuation, and the motor speed change at 0.2s is
the NSMRL has a shorter settling time to reach the stable run- smaller, less than 20 r/min.
ning state, and achieves the steady state almost without over- Therefore, from the analysis above we can draw the con-
shoot. In contrast, the speed regulation system under PI con- clusion that the system with SMSC+ESO controller based on
trol has a bigger overshoot. NSMRL has the advantages of good dynamic performance
As shown in Fig.6 (b)–(d), it can be seen that when the ex- and strong robustness.
ternal disturbance added at 0.2s and removed at 0.3s, the
speed and electrical magnetic torque fluctuations are obvious. B. Experimental Verification
On the contrary, as shown in Fig.7 (b)–(d), when using the In order to further verify the theoretical analysis and the

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Transactions on Power Electronics

proposed control method, a PMSM drive control experiment

platform based on TMS320F28335 as the main control chip
was set up, which mainly verifies the dynamic response of the
speed regulation system under the PI controller, the SMSC
with the reaching law in reference [8] (SMSC+RLR8) and the
proposed SMSC+ESO controller.
The PI parameters of two current loops are the same: the
proportional gain kpc = 1, and the integral gain kic = 0.058. The
parameters of the speed loop is that kp = 0.15, ki = 15, and
0  0.998 . The parameters of SMSC+ESO are: x = x1, a = Fig.9. Startup experiment contrast under different control strategies. (a) Ex-
perimental results under PI controller. (b) Experimental results under SMSC
0.45, b = 0.65, c = 20, ε = 5, k = 23. β1 = β2 = 160, β3 = 0.94. using the reaching law in reference [8] (RLR8). (c) Experimental results
The experimental motor parameters are as follows: rated under SMSC using NSMRL.
power 0.4kW, bus voltage 110V, rated current 2.6A, rated
speed 3 000r/min, rated torque 1.27 Nꞏm. The second experiment was carried out to verify the ro-
The experiment hardware platform is shown in Fig.8. bustness of the speed control system under the three control
strategies (PI, SMSC, SMSC+ESO) when the motor is run-
ning at a steady state of 1000 r/min and a lower speed of 150
r/min.
Fig.10, Fig.11 and Fig.12 show the dynamic responses of
motor speed when the load torque is added to 1.27 Nꞏm sud-
denly.
speed(500 r/min/div)

Fig.8. Experimental hardware platform Fig.10. Experimental results under PI controller. (a) Speed (1000 r/min) in the
case of sudden load increase. (b) Speed (150 r/min) in the case of sudden load
In order to verify dynamic performance of NSMRL, the increase.
first experiment was carried out to show the startup procedure
of the motor when the reference speed was given as 1000
r/min with an initial load torque of 0 Nꞏm. 150 r/min

The startup comparison results under different control

strategies, i.e. (PI, SMSC+RLR8, SMSC+NSMRL) are shown load increase
in Fig.9 (a)–(c). Comparing Fig.9 (a) with Fig.9 (b) and (c), it
is obvious that when the PI controller is adopted, the startup
procedure speed fluctuation in Fig.9 (a) is very obvious, and
the dynamic settling time is about 300 ms, which is longer
time(100 ms/div)
than using SMSC. In addition, as can be seen from Fig.9 (c), (b)
the startup procedure of the system almost has no overshoot Fig.11. Experimental results under SMSC adopting NSMRL. (a) Speed (1000
after adopting the NSMRL. Moreover, the speed settling time r/min) in the case of sudden load increase. (b) Speed (150 r/min) in the case
of sudden load increase.
of SMSC+NSMRL shown in Fig.9 (c) is about 100 ms, which
is shorter than adopting reaching law in RLR8.
150 r/min
speed(50 r/min/div)

load increase

time(100 ms/div)
 
(b)  
Fig.12. Experimental results under SMSC+ESO. (a) Speed (1000 r/min) in
the case of sudden load increase. (b) Speed (150 r/min) in the case of sudden
load increase.

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Transactions on Power Electronics

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0885-8993 (c) 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPEL.2019.2933613, IEEE
Transactions on Power Electronics

[26] J. Han, "From PID to Active Disturbance Rejection Control," in IEEE He is currently working as a Researcher with the China
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Xiaoguang Zhang (M’15) received the
vol. 52, no. 3, pp. 814-823, June 2005. B.Sc. degree in Electrical Engineering from the Heilongjiang
[31] Weibing Gao and J. C. Hung, "Variable Structure Control of Nonlinear Institute of Technology, Harbin, China, in 2007, and the M.Sc.
Systems: a New Reach," in IEEE Transactions on Industrial Electron- and Ph.D. degrees in Electrical Engineering from the Harbin
ics, vol. 40, no. 1, pp. 45-55, Feb 1993.
[32] A. Scottedward Hodel and C. E. Hall, "Variable-structure PID Control
Institute of Technology, in 2009 and 2014, respectively.
to Prevent Integrator Windup," in IEEE Transactions on Industrial
Electronics, vol. 48, no. 2, pp. 442-451, April 2001. He is currently a Distinguished Professor with the North
China University of Technology. From 2012 to 2013, he was
a Research Associate at Wisconsin Electric Machines and
Power Electronics Consortium (WEMPEC), University of
Wisconsin–Madison, Madison. He has published more than
40 technical papers in the area of motor drives. His current
research interests include power electronics and electric ma-
chine drives.

Yaoqiang Wang (S’12-M’16) received the

B.Sc. degree in Measurement & Control Technology and In-
struments from the Hangzhou Dianzi University, Hangzhou,
China, in 2006, and the M.Sc. and Ph.D. degrees in Electrical
Engineering from the Harbin Institute of Technology, Harbin,
China, in 2008 and 2013, respectively.
Jun Liang (M’02–SM’12) received the
B.Sc. degree from the Huazhong University of Science and
He is currently working as an Associate Professor with the
Technology, Wuhan, China, in 1992, and the M.Sc. and Ph.D.
School of Electrical Engineering, Zhengzhou University,
degrees from the China Electric Power Research Institute
Zhengzhou, China. He has authored more than 30 technical
(CEPRI), Beijing, China, in 1995 and 1998, respectively, all
papers published in journals and conference proceedings. His
in Electrical Engineering and Its Automation.
research interests include power conversion & control tech-
From 1998 to 2001, he was a Senior Engineer with CEPRI.
nique and its applications in distributed generation, motor
From 2001 to 2005, he was a Research Associate with Impe-
drive and flexible power transmission & distribution, etc.
rial College London, London, U.K. From 2005 to 2007, he
was with the University of Glamorgan as a Senior Lecturer.
He is currently a Professor with the School of Engineering,
Cardiff University, Cardiff, U.K. He has been appointed as an
Adjunct Professor at the Zhengzhou University, Zhengzhou,
China, since 2019. His research interests include power sys-
tem stability and control, DC grids, power electronics, and
renewable power generation.
Yutao Feng received the B.Sc. degree in
Electrical Engineering and Its Automation from the Shandong
University of Science and Technology, Qingdao, China, in
2016, and the M.Sc. degree in Electrical Engineering from the
Zhengzhou University, Zhengzhou, China, in 2019.

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