electronics

Article
Design of Sensorless Speed Control System for Permanent
Magnet Linear Synchronous Motor Based on Fuzzy
Super-Twisted Sliding Mode Observer
Zheng Li * , Jinsong Wang, Shaohua Wang, Shengdi Feng, Yiding Zhu and Hexu Sun *

School of Electrical Engineering, Hebei University of Science and Technology, Shijiazhuang 050018, China;
[email protected] (J.W.); [email protected] (S.W.); [email protected] (S.F.);
[email protected] (Y.Z.)
* Correspondence: [email protected] (Z.L.); [email protected] (H.S.); Tel.: +86-311-81668722 (Z.L.)

Abstract: To improve the tracking capability and sensorless estimation accuracy of a permanent
magnet linear synchronous motor (PMLSM) control system, a sensorless control system based on
a continuous terminal sliding mode controller (CT-SMC) and fuzzy super-twisted sliding mode
observer (F-ST-SMO) was designed. Compared with a conventional slide mode control, CT-SMC
can reach the equilibrium point in limited time to ensure the continuity of control and achieve fast
tracking of reference speed. Based on the PMLSM design of F-ST-SMO, a super-twisted sliding mode
algorithm is used to replace the traditional first order sliding mode algorithm. Meanwhile, fuzzy
rules are introduced to adjust the sliding mode gain adaptively, which replaces the fixed gain of
traditional SMO and reduces chattering of the system. Finally, the effectiveness and superiority of the
designed control system are proven by simulation and experiment.
Citation: Li, Z.; Wang, J.; Wang, S.;
Feng, S.; Zhu, Y.; Sun, H. Design of Keywords: permanent magnet synchronous linear motor; continuous terminal sliding mode; sliding
Sensorless Speed Control System for mode control; fuzzy controller; super-twisted sliding mode observer
Permanent Magnet Linear
Synchronous Motor Based on Fuzzy
Super-Twisted Sliding Mode
Observer. Electronics 2022, 11, 1394. 1. Introduction
https://doi.org/10.3390/
PMLSM has been widely used in modern industries such as robotics and military
electronics11091394
due to its easy structure, high reliability and high efficiency [1,2]. To solve the limitations
Academic Editor: Hamid Reza of a conventional PI control, many new control algorithms such as active disturbance
Karimi rejection control, adaptive control, neural network control, and SMC have been proposed.
Among them, SMC is a kind of nonlinear control algorithm with strong robustness. This
Received: 26 March 2022
method is insensitive to perturbation and has the advantages of quick response. It is
Accepted: 24 April 2022
applied to PMLSM to enhance the system control capability. However, the robustness
Published: 27 April 2022
of the SMC is achieved by using a large switching control gain, which often produces
Publisher’s Note: MDPI stays neutral chattering. References [3,4] added an active disturbance rejection speed control in fast
with regard to jurisdictional claims in terminal sliding mode, which improved the robustness of the system and the ability to
published maps and institutional affil- track a given speed, but the speed overshoot became larger, and the control input would
iations.
have a singular problem. To reduce system jitter, Ref. [5] designed an adaptive law to
dynamically adjust the switching gain of the system. While satisfying the control accuracy
of the system, the system jitter was reduced. The authors of [6,7] combined a sliding mode
control with direct torque theory, which improved the dynamic response capability of the
Copyright: © 2022 by the authors.
Licensee MDPI, Basel, Switzerland.
system, but it increased the switching gain of the system and strengthened the system
This article is an open access article
chattering. According to [8,9], in order to reduce the buffeting issue, the saturation function
distributed under the terms and
took the place of the sign function, the system switching was more stable, and the chattering
conditions of the Creative Commons of the system was reduced, but the sliding mode switching was difficult to achieve, and the
Attribution (CC BY) license (https:// anti-interference ability was weakened.
creativecommons.org/licenses/by/ Meanwhile, in most high-performance servo control systems, the position and speed
4.0/). of the mover are critical parameters. In the PMLSM vector control, it is usually necessary

Electronics 2022, 11, 1394. https://doi.org/10.3390/electronics11091394 https://www.mdpi.com/journal/electronics

Electronics 2022, 11, 1394 2 of 15

to install a mechanical sensor on the motor to feedback the speed of the motor mover in
real time, forming a closed-loop operation of the motor control system. While improving
the detection accuracy of the system, the mechanical sensor also increases the burden of
the system. To reduce the burden and cost of the system, a sensorless control strategy is
necessary for its application in PMLSM [10]. Commonly used sensorless algorithms include
Kalman filter algorithm, model reference adaptive algorithm, Sliding Mode Observer
algorithm, etc. Among them, the Kalman filter can estimate the system state online and
then realize the real-time monitoring of the system, but the amount of calculation is too large,
and the adjustment time of the system becomes longer [11]. The model reference adaptive
algorithm realizes the identification of the motor parameters through the appropriate
adaptive law. Although it improves the robustness of the system, the design parameters
are too many, the system becomes complex, and the dynamic response capability becomes
weak [12].
Because SMO is independent of motor parameters, it has strong robustness to system
disturbances. Compared with other speed sensorless control methods such as the Kalman
filter means and model reference adaptive control algorithm, this method is simple in
design and requires less computation and more dynamic responsiveness, with better
advantages. The authors in [13,14] used an improved index convergence law to weaken the
system buffeting caused by the sliding mode observer. Although it can achieve purpose to
a certain extent, when the error change is zero, the sliding mode control rate is also zero,
which is disadvantageous to the control of the system. The authors of [15] proposed an
adaptive SMO, which has good robustness. The authors of [16,17] designed an extended
Kalman filter to obtain continuous back EMF and to improve observation accuracy, but the
amount of calculation is too big, which increases the control cost of the system. The authors
of [18–20] proposed a cascade sliding mode observer, which improved the robustness of
the system, but the cascade made the tracking ability of the system worse, resulting in a
certain phase difference.
Therefore, based on the theory of PMLSM, a control system combining CT-SMC and
F-ST-SMO is designed to optimize the overall control system. The CT-SMC solves the
singularity problem of the terminal sliding mode and makes the approach process of the
algorithm have a time limit through the stability condition constraint, standardizes the
approach trajectory, and makes the system reach the sliding mode surface in a certain
time. F-ST-SMO using higher-order features keeps the continuity of the output, so as to
weaken the hf switching chattering of sliding mode. Thus, the introduction of fuzzy rules
can solve the upper bound of the boundary function in a selected control algorithm in the
actual problem, in which is difficult to dynamically adjust the sliding mode gain coefficient
of the fuzzy rules to reduce chattering near the sliding mode surface. The simulation
and experiment prove that the designed system simplifies the mechanical structure of the
control system and improves the dynamic performance and control precision. The main
innovations of this paper are as follows:
(1) Based on the theoretical basis of SMC and taking PMLSM as the control object, a
control system combining CT-SMC and F-ST-SMO is designed.
(2) To solve the problem of the large error of traditional SMO observations, a hyperdistor-
tion algorithm is introduced to maintain the continuity of output to weaken chattering
caused by high-frequency switching in sliding mode. Fuzzy rules are introduced to
dynamically adjust the sliding mode gain coefficient to reduce chattering near the
sliding mode surface.
(3) System verification. The dynamic performance of the designed control system is
verified by comparing the CTSMC control system with a traditional SMC and PI
control system. The observation performance of F-ST-SMO is compared with that
of traditional SMO, and the error analysis is made with the data of the mechanical
sensor.
Electronics 2022, 11, 1394 3 of 15

2. Design of Terminal Sliding Mode Speed Controller

2.1. PMLSM Mathematical Model
The mathematical model for establishing the PMLSM in the synchronous rotating
coordinate system d − q is as follows:

 did = − Rs i + πLq νiq + ud
dt Ld d τLd Ld
(1)
 diq = − Rs iq − πLd νid + uq − πψ f ν
dt Lq τLq Lq τLq

where Rs is the stator resistance; τ is the PMLSM pole pitch; ν is the speed of the linear
motor; ud and uq are the voltage of the d − q axis; id and iq are the current of the d − q axis;
Ld and Lq are the inductance components of the d − q axis; ψ f is the permanent magnet
flux linkage.
Since Ld = Lq in the PMLSM used, the thrust equation can be written as

3π
Fem = pn ψ iq (2)
2τ f
where Fem is the thrust of the linear motor, and pn is the number of pole pairs of the linear
motor.
The mechanical motion equation of PMLSM is as follows:

dν
m = Fem − f − Bν (3)
dt
where m is the quality of the mover, B is the viscous friction factor, and f is the system
disturbance. Simultaneously, formulas (2) and (3) can be obtained

dν
= a M iq + b M ν + c M f (4)
dt
1 3π B
where a M = m pn 2τ ψ f ; bM = − m ; c M = − m1 .

2.2. Design of CT-SMC

The velocity loop controller is designed using a first-order CT-SMC algorithm. From
the linear motor equation of motion, the first-order velocity differential equation can be
written as .
v = a M iq + b M ν + c M f
= a M i q ∗ + b M ν + c M f − a M (i q ∗ − i q ) (5)
= biq ∗ + d
where (
b = a M = m1 pn 3π
2τ ψ f (6)
d = b M v + c M f − a M (iq∗ − iq )

d can be regarded as the lumped disturbance of the system. The derivative of d in the
system is bounded and satisfies the following conditions:
.
d ≤ k ed (7)

where k ed is an ordinary constant and k ed > 0.

Let vr be the specified speed of the system, then the speed tracking error is defined as:

e = vr − v (8)

Calculate the first derivative of the velocity tracking error, and substitute Equation (5),
it can be deduced that
. . . .
e = vr − v = vr − biq∗ − d (9)
Electronics 2022, 11, 1394 4 of 15

Terminal sliding surface for design is as follows:

.
s = e + csgn(e)|e| p/q (10)

where c > 0, 0 < p/q < 1.

The speed control law based on CT-SMC is designed as follows:

∗ −1
 iq = b . (ueq + uv )

ueq = vr + csgn(e)|e|α (11)
 u = k R t sgn(s)dt

v v 0

where k v is an ordinary constant and k v > 0, t is the running time of the system α ∈ (0, 1);
sgn(?) is a symbolic function; b = a M = m1 pn 3π 2τ ψ f is the control gain. ueq and uv are
equivalent control laws.

2.3. Stability Proof of CT-SMC

If system (5) satisfies k v > k ed , under the action of the control law (10), the velocity
error of the system will converge to the equilibrium point within a finite time.

Proof. According to Equation (9), the sliding surface (10) can be written in the follow-
ing form:
. .
s = e + csgn(e)|e| p/q = vr − biq∗ − d + csgn(e)|e| p/q (12)
Substituting formula (11) into (12), we can obtain:
.
s = vr − biq∗ − d + csgn(e)|e| p/q
.
= csgn(e)|e| p/q + vr − (ueq + uv ) − d (13)
. .
= csgn(e)|e| p/q + vr − (vr + csgn(e)|e| p/q + uv ) − d
= −uv − d

The Lyapunov function is used to judge the stability of CT-SMC, and the constructed
function is
1
V = s2 (14)
2
Taking the first derivative of it and substituting it into Equation (13), we can obtain
. . . .
V = ss = s[−uv − d] (15)

Substituting Equation (11) into the above equation, we can obtain

. . . .
V = s(−uv − d) = s(−k v sgn(s) − d)
. (16)
= −k v |s| − ds

Formula (16) can be written in the following form:

. . .
V = −k v |s| − ds ≤ −k v |s| + d |s|
.
= −[k v − d ]|s| ≤ −[k v − k cd ]|s| (17)
√ 1
= − 2(k v − k ed )V 2
.
According to Equation (17), if k v > k ed it is true. Then, V < 0 is established. It
shows that the velocity error will reach the sliding surface s = 0 in a limited time. In this
way, there can be a first-order nonlinear differential equation with finite time convergence:
.
s = e + csgn(e)|e|α = 0.
 According to Equation (17), if kv > ked it is true. Then, V < 0 is established. It
shows that the velocity error will reach the sliding surface s = 0 in a limited time. In this
way, there can be a first-order nonlinear differential equation with finite time conver-
•
α
gence: s = e+ c sgn(e) e = 0 .
Electronics 2022, 11, 1394 When c > 0 , the velocity deviation will converge to the equilibrium state in a5finite
of 15

time along the sliding mode surface s = 0 .

When the fractional power is reduced to integer power 1, the sliding surface in this
paper is reduced
When to: velocity deviation will converge to the equilibrium state in a finite
c > 0, the
time along the sliding mode surface s = 0. •
(18)
When the fractional power is reduceds to= einteger
+ ce power 1, the sliding surface in this
paperThe
is reduced to: degenerates to:
controller .
s = e + ce (18)
 i * = b −1 ( u + u )
The controller degenerates to:  q eq v

 
•
∗ueq b=−1v(ru+ ce
 iq =
(19)
eq + uv )
eq = v. r + ce

u t (19)

 uvu=
 v =k kRv t sgn
v 0 0 ( s ) dt
sgn( s )dt
Accordingtotothe
According theabove
above design,
design, thethe control
control structure
structure based
based on CT-SMC
on the the CT-SMC method
method can
can be drawn as shown in Figure 1. The red PMLSM module represents the
be drawn as shown in Figure 1. The red PMLSM module represents the current closed-loop current
closed-loop
structure structure
including including magnet
the permanent the permanent magnet
synchronous synchronous
linear linearcomponents
motor and other motor and
other components
in Figure 1.  in Figure 1. □

Figure1.1.System
Figure Systemblock
blockdiagram
diagramofofPMLSM
PMLSMbased
basedon
onCT-SMC.
CT-SMC.

3. Design of F-ST-SMO
3.1. Traditional SMO
The electrical equation of PMLSM in the αβ coordinate system is as follows:
(
diα 1
dt = L (− Riα + uα − Eα )
di β (20)
dt = L1 (− Ri β + u β − Eβ )

where Eα = − πτ vψ f sin θ , Eβ = − πτ vψ f cos θ can be regarded as αβ induced electromotive

force in coordinate system. To acquire the extended back EMF of the estimated value, the
SMO can be designed as
(
dîα 1
dt = L (− Rîα + uα − zα )
dî β (21)
1
dt = L (− R î β + u β − z β )

zα = ksgn(îα − iα )
(22)
z β = ksgn(î β − i β )

where î a , î β is the observed value of current; k is the traditional SMO gain.

Subtracting from Equations (20) and (21), the current error state equation is
(
deiα
dt = L1 (− Reiα − zα + Eα )
dei β (23)
dt = 1 (− Rei β − z β + Eβ )
L

where ei a = î a − i a , ei β = î β − i β is the current observation deviation.

Electronics 2022, 11, 1394 6 of 15

SMO is used to estimate the current, and its sliding mode surface function is as follows

ei = [ei aei β ] T = 0 (24)

SMO enters sliding mode when the following conditions are met
.
ei Tei < 0 (25)

When the sliding mode gain satisfies Equation (25), then

.
ei = ei = 0 (26)

Substituting Equation (26) into Equation (23), we can obtain

T
E = [ksgn(î a − i a )ksgn(î β − i β ] (27)

According to Equation (27), it is known that the back EMF estimation is associated
with the high frequency switching signal. However, the estimation method based on the arc
tangent function directly substitutes the high-frequency switching signal into the division
operation of the arc tangent function, resulting in the phenomenon of high-frequency
chattering.

3.2. Super-Twisted Control Algorithm

For the traditional first-order sliding mode observer, the estimated back EMF has a
chattering phenomenon due to the influence of the sign function, which leads to a tracking
error in the estimated mover velocity. Although the chattering can be reduced by low-pass
filtering, it will cause a phase delay. To this end, an ST algorithm is introduced to solve the
chattering phenomenon caused by the traditional SMO.
The ST algorithm can be shown in formula (28):
( 1
dx ∗ e| 2 sgn( x
dt = k | x e) + xm
(28)
dxm ∗ sgn( x
dt = k e )

where x is the state variable, xe is the deviation between the approximated value and the
true value, xm is a custom intermediate variable, k∗ is the ST sliding mode gain.
The state variable x in the ST algorithm is replaced by the current signal î a and î β
estimated by PMLSM, and the SMO of PMLSM based on the ST algorithm is obtained, as
shown in Equation (29).
 1
dîα 2
= L1 (− Rîα + u a − k f eiα sgn(eiα ) −
R
k s · k f sgn(eiα )dt)


dt
1 (29)
dî β 1 2 R
= L (− Rî β + u β − k f ei β sgn(ei β ) − k s · k f sgn(ei β )dt)


dt

where k f is the boundary function, and k s is a small constant, which is used to reduce the
influence caused by the error differential of fuzzy control input.
The current deviation equation acquired by subtracting Equation (20) from Equation (29) is:
 1
deiα 2
= L1 (− Reiα − k f eiα sgn(eiα ) −
R
k s · k f sgn(eiα )dt + Eα )


dt
1 (30)
dei β 2
= L1 (− Rei β − k f ei β sgn(ei β ) −
R
k s · k f sgn(ei β )dt + Eβ )


dt

where ei a = î a − i a , ei β = î β − i β is the deviation of current observation.

Electronics 2022, 11, 1394 7 of 15

When ST-SMO is stable, the estimated value is equal to the actual value, that is, the
.
PMLSM current estimation error and change rate are approximately zero (eiαβ = eiαβ = 0).
At this point, the back EMF of the PMLSM estimated by the ST-SMO can be obtained:
 1
2 R
 Ea = k f eiα sgn(eiα ) + k s · k f sgn(eiα )dt

1 (31)
2 R
 E = k ei sgn(ei β ) + k s · k f sgn(ei β )dt

β f β

In order to improve the chattering problem in SMC, the ST control algorithm is

selected to ensure the continuity of the output. The algorithm can weaken the chattering
caused by the first-order sliding mode control and improve the dynamic response and
anti-interference ability of the system. However, the ST control algorithm relies too much
on the upper bound of the boundary function, which is hard to obtain in practice. In
addition to the serious influence of the sign function on the buffeting phenomenon of a
sliding mode observer, there is also sliding mode gain. In a general sliding mode system,
in order to maintain the rapid response ability of the system, a larger sliding mode gain is
usually selected, but this will also produce a larger buffeting. When the moving point is
close to the sliding mode surface, a small gain is enough. Therefore, if the sliding mode
gain can be adjusted adaptively according to the position of the moving point relative to the
sliding mode surface, the buffeting of the system can be effectively suppressed. In order to
realize the adaptive adjustment of the sliding mode gain, a fuzzy control rule is introduced.

3.3. Design of Fuzzy Controller

Fuzzy control has strong adaptability to external disturbances because it does not
completely rely on mathematical models, but on fuzzy rules. It is especially suitable for
nonlinear control systems.
The boundary function k f is estimated according to the sliding mode reachable condi-
.
tion. The input variables of the fuzzy control system are ei aβ and ei aβ , and the output variable
is k f . If ei aβ is large, it indicates that there is a large difference between î aβ and i aβ , and the
moving point is far from the sliding mode surface, and then k f should increase. If ei aβ is
small, it means that the motion point is close to the sliding surface, and then k f should
.
decrease. If ei aβ is large, it indicates that the moving point is rapidly moving away from
or close to the sliding mode surface, and the gain needs to be increased to strengthen the
control effect; otherwise, the gain needs to be reduced.
The input variables are defined in the domain of {−0.002 0.002}, and the output
variables in the domain of {1000 1400}. The input of fuzzy language is {NB (negative big),
NS (negative small), Z(zero), PS (positive small), PB (positive big)}, and the fuzzy language
value of the output is {PS (positive small), S(small), M(medium), B(big), PB (positive big)}.
Control rules obtained by designing k f are shown in Table 1.

Table 1. Control rules.

.
~
~ i αβ
i αβ
NB NS ZO PS PB
NB PB PB B B M
NS PB B B M M
ZO B M M S S
PS S M M B B
PB M B B PB PB
Electronics 2022, 11, 1394 8 of 15

3.4. Construction
Electronics 2022, 11, x FOR PEER REVIEW of F-ST-SMO Model 9 of 16
Based on the current model of the PMLSM in the αβ coordinate system, such as
formula (32):
. 1
ˆ = L1(− Riαβˆ + uαβ − Eαβ )
iαβ (32)
i = ( − Ri + u − z )
αβ αβ αβ
(33)
αβ
where iαβ = [iα i β ] T is the stator αβ L axis current; R is stator resistance; L is the stator
where
inductance; ˆ ˆ
iαβu=αβ[i= ˆ T T
α i[βu]α u β ] isis thethevoltage
estimation
of stator αβ of axis;
stator Eα Eβ ] Taxis
Eαβ = [αβ is the current;
inverse
electromotive 1 force of the linear electric motor. PMLSM current equation based on F-ST-
 2 sgn(i ) + k ⋅ k sgn(i )dt is the control law. Where k is the boundary func-
zαβ = kcan
SMO f iαβ be restated
αβ  as:
s f αβ
.
f
1
tion, k f is derived from fuzzy îαβcontrol
= (−rules.
Rîαβ +The − zαβtask
uαβmain ) of the observer is to select (33)a
L
suitable control law to minimize the estimation error and finally estimate the motor 1 stator
T 2
αβ axis
where îαβ back
= [îαEMF.
î β ] isWhen the slidingofmode
the estimation statorswitching functionzαβ
αβ axis current; approaches
= k f eiαβ the sgnsliding
(eiαβ ) +
i = i law.
= 0 Where
R
mode
k s · k switching
f sgn(iαβ ) dtsurface,
e is the control
αβ αβ
is obtained,
k f is and Equation (31)
the boundary is obtained.
function, To ob-
k f is derived
from
tain afuzzy controlestimate
continuous rules. The main
of the task
back of the
EMF, observer filter
a low-pass is to select a suitable
is required, control
as shown inlaw
the
to minimize
equation: the estimation error and finally estimate the motor stator αβ axis back EMF.
When the sliding mode switching function approaches the sliding mode switching surface,
. ωc
eiαβ = eiαβ = 0 is obtained, and EquationEˆ(31)
αβ =is obtained.
zαβ To obtain a continuous estimate(34) of
the back EMF, a low-pass filter is required, as shown
s +ω
c in the equation:

where wc = 2π fc ，fc indicates the cut-off frequency

ωc of the low-pass filter.
Ê
To obtain the velocity information of sthe= z (34)
αβ
+ ωmover,
c
αβ the estimated value of velocity is
expressed as:
where wc = 2π f c , f c indicates the cut-off frequency
2
of the low-pass filter.
To obtain the velocity information of the + Eβ 2 the estimated value of velocity(35)
Eα mover, is
ωˆ e =
expressed as: q ψ f

π Eα 2 + Eβ 2
where wˆ e = vˆ , and we can finallyω̂obtain
e = an estimate of the velocity of the actuator. (35)
τ ψf
To sumπup, the control principle of F-ST-SMO is to first use the input voltage signal
where ŵe = τ v̂, and we can finally obtain an estimate of the velocity of the actuator.
through the sliding mode observer designed by the PMLSM current state equation to
To sum up, the control principle of F-ST-SMO is to first use the input voltage signal
obtain the current estimated value of the SMO, and then compare it with the actual
through the sliding mode observer designed by the PMLSM current state equation to
PMLSM current signal. The error and rate of change of the current signal are obtained by
obtain the current estimated value of the SMO, and then compare it with the actual PMLSM
making the difference, the control gain of the sliding mode observer is dynamically reg-
current signal. The error and rate of change of the current signal are obtained by making the
ulated through the fuzzy control rules, the estimated back EMF is obtained through the
difference, the control gain of the sliding mode observer is dynamically regulated through
ST algorithm,
the andrules,
fuzzy control finally
thethe mover speed
estimated is obtained.
back EMF Thethrough
is obtained principle
theofSTthe F-ST-SMO
algorithm, is
and
shownthe
finally in Figure
mover2. speed is obtained. The principle of the F-ST-SMO is shown in Figure 2.

Figure 2.
Figure 2. F-ST-SMO
F-ST-SMO algorithm
algorithm implementation
implementation diagram.
diagram.

4.
4. Simulation
Simulation and
and Experimental
Experimental Results
Results
4.1. Comparison of Speed Controllers
4.1. Comparison of Speed Controllers
The block diagram of the PMLSM control system designed in this paper is set up
The block diagram of the PMLSM control system designed in this paper is set up in
in MATLAB/SIMULINK, as shown in Figure 3. The motor driving parameters used are
MATLAB/SIMULINK, as shown in Figure 3. The motor driving parameters used are
shown in Table 2, and the improved SMC is compared with the traditional PI and traditional
shown in Table 2, and the improved SMC is compared with the traditional PI and tradi-
SMC control system.
tional SMC control system.
Electronics 2022, 11, x FOR PEER REVIEW 10 of 16

2022, 11,
Electronics 2022, 11, 1394
x FOR PEER REVIEW 109of
of 16
15

Figure 3. Control system block diagram.

Figure 3. Main
Table 2. Control system block
parameters diagram.
of straight line.

Table 2. Main
Table 2. Main parameters of
of straight
straight line.
Parameter
parameters line. Value
stator resistance Rs/Ω 4.0
Parameter
Parameter ValueValue
d-q axis inductance Ldq/mH 8.2
stator
stator resistance
resistance Rs/Ω Rs/Ω 4.0 4.0
d-q d-q
Mover
axis axis
inductance
mass m/kg
Ldq/mH
1.425
8.2 8.2
inductance Ldq/mH
Viscous
Mover friction coefficient B/N/m·s
mass m/kg 1.425 44
Mover mass m/kg 1.425
Viscous friction Polar distance
coefficient τ/m ·s
B/N/m 44 0.016
Viscous
Polar friction
distance coefficient
τ/m U/V B/N/m·s 0.016 44
DC Bus Voltage 48
DC Bus Polar distance
Voltage U/V τ/m 48 0.016
DC Bus Voltage U/V 48
4.1.1. Constant Load, Varying Speed
4.1.1. Constant Load, Varying Speed
To analyze the dynamic response performance of the designed control system, the
4.1.1.To
Constant
analyze Load, Varying response
the dynamic Speed performance of the designed control system, the
traditional PI control and traditional SMC are set up as a comparison. The speed change
Togiven
of the analyze
traditional the dynamic
PI system
control and
is ( 1m/ s→response
traditional
2m/SMC
s→ performance
are set
3m/ s ) up asofa the designed
comparison.
to observe the tracking control
The speed
effectsystem,
ofchange
PMLSMthe
of
traditional
the given PI
systemcontrol
is ( and
1m/s →
traditional
2m/s →SMC
3m/sare
) toset up as
observe a comparison.
the tracking
for different speeds and the dynamic response performance when the speed changes. The
effect speed
of PMLSM change
for
different
of speeds
the given
Figure 4 shows
and is
system the( 1m/
the comparison s → 2m/
dynamic s→
response
of the 3m/ s ) to
performance
operation observe
speed
when the speed changes.
theCT-SMC
of the tracking Figure 4
effect oftraditional
system, PMLSM
shows
for the comparison
different speeds andof the operation
thesystem. speed of the CT-SMC system, traditional
dynamic response performance when the speed changes. PI control
PI control system and SMC
system 4and
Figure SMCthe
shows system.
comparison of the operation speed of the CT-SMC system, traditional
PI control system and SMC system.

Figure4.4.Speed
Figure Speedcomparison.
comparison.

Figure
To
To4.analyze
Speed comparison.
analyze the
thespeed
speedcontrast
contrastdiagram,
diagram,the
theCT-SMC
CT-SMCsystem
systemshown
shownin
inthis
thispaper
paperhas
has
almost
almost no no overshoot
overshoot in in the
the process
process from 0 to 1 m/s andfrom
m/s and from11to to22m/s.
m/s.Although
Althoughthere thereis
To
isovershootanalyze
overshoot ininthe the
the speed
process
process contrast
from
from diagram,
2 to
2 to 3 m/s,
3 m/s, the
thethe CT-SMC
overshoot
overshoot system
is much
is much shown in
smaller
smaller this
than paper
than inhas
thatthat in
the
almost
the no overshoot
traditional
traditional PI PI in
control
control the
and andprocess from
traditionalSMC
traditional 0 to 1 m/s
SMCsystem. and from
system.InInthese 1 to 2
these three m/s. Although
three speed increases, there
increases, the is
the
overshoot
process
processfrom in the
from22to process
to33m/sm/s is from
is the 2
the worstto 3 m/s,
worst dynamic the overshoot
dynamic response
response timeis much
time of smaller
of CT-SMC than
CT-SMCdesigned that
designed in in the
inthis
this
traditional
paper. The PI control
CT-SMC and
system traditional
still shows SMC
superiorsystem. In
control these
performance
paper. The CT-SMC system still shows superior control performance versus the tradi- three speed
versus increases,
the the
traditional
process
control. from
In the2process
tional control. to the
In 3 m/s ofisspeed
process theofworst
speeddynamic
change, response
the adjustment
change, timeof
time
the adjustment oftime
CT-SMC
CT-SMC isdesigned
less than
of CT-SMC in this
0.05
is less than s,
paper.
the The
adjustment CT-SMC time system
of PI is still
more shows
than superior
0.1 s, while control
the performance
adjustment
0.05 s, the adjustment time of PI is more than 0.1 s, while the adjustment time of conven- timeversus
of the tradi-
conventional
tional
tionaliscontrol.
SMC In
moreisthan
SMC more the process
s. 0.2 of
0.2than s. speed change, the adjustment time of CT-SMC is less than
0.05 s,
Figure 5 shows the thrustPI
the adjustment time of is more comparison
variation than 0.1 s, while
of thethe adjustment
three time of conven-
control systems. Among
tional SMC is more than 0.2 s.
the three control modes, it can be seen that the SMO system shows strong thrust fluctuation
Electronics
Electronics 2022,
2022, 11,
11, xx FOR
FOR PEER
PEER REVIEW
REVIEW 11
11 of
of 16
16
Electronics 2022, 11, x FOR PEER REVIEW 11 of 16

Electronics 2022, 11, 1394 Figure

Figure 55 shows
shows thethe thrust
thrust variation
variation comparison
comparison of of the
the three
three control
control systems.
systems. Among
Among
10 of 15
the three
Figure control
5 shows modes,
the it can
thrust be seen
variation that the SMO
comparison system
of the shows
three strong
control
the three control modes, it can be seen that the SMO system shows strong thrust fluctua- thrust
systems. fluctua-
Among
tion
the due
tionthree to
to its
due controlits inherent
modes,characteristics.
inherent The
it can be seen that
characteristics. ThetheCT-SMC system
SMO system
CT-SMC designed
systemshows
designed in
in this
strong paper
thrust
this has
has aa
fluctua-
paper
similar
tion due
similar trend of
toinherent
its of thrust
inherent change with
characteristics.the traditional
The CT-SMC PI control
PIsystem system,
designed but
in when
this the
paper speed
has a
due to itstrend thrust change
characteristics.with
Thethe traditional
CT-SMC system control
designed system,
in thisbut when
paper hasthe speed
a similar
changes,
similar
changes, the
trendthe thrust
of
thrust changes
thrust change
changes significantly,
with the resulting
traditional
significantly, resultingPIin
in aa long
control
long overshoot
system,
overshoot but time.
when
time. the speed
trend of thrust change with the traditional PI control system, but when the speed changes,
changes,
the thrustthe thrust significantly,
changes changes significantly,
resulting resulting in a long overshoot
in a long overshoot time. time.

Figure
Figure 5.5. The
The thrust
thrust comparison
comparison of of the
the three
three control
control system:
system: (a)(a) thrust
thrust change
change of
of the
the CT-SMC
CT-SMC sys-
sys-
tem;
tem; (b)
Figure
Figure 5.thrust
5.
(b) The
thrust change
The thrust
change of
of the
the PI
comparison
comparison PI control
of
ofthe
control system;
thethree
three (c)
(c) thrust
control
control
system; system:change
system:
thrust change of
of the
(a)(a)thrust
thrust
the SMC
change system.
SMC of
change thethe
of
system.CT-SMC system;
CT-SMC sys-
(b) thrust
tem; change
(b) thrust of theofPIthe
change control system;
PI control (c) thrust
system; change
(c) thrust of theofSMC
change system.
the SMC system.
4.1.2.
4.1.2. Constant
Constant Speed,
Speed, Varying
Varying Load
Load
4.1.2. Constant
4.1.2. Constant Speed,
Speed, Varying
Varying Load
Load
Given
Given that
that the
the system
system speed
speed is is 1.5
1.5 m/s,
m/s, and
and the
the running
running timetime is is set
set as
as 11 s,
s, random
random
load Given
is that the system speed isis1.5 m/s, and the running time is set as
set1as
s, the
random load
is added
loadGiven thatinto
added thethe
into the control
system
control system
speed
system as
1.5 shown
asm/s,
shownand in Figure
inthe 6.
running
Figure 6. Figure
time
Figure 7is
7 shows
shows s, compari-
1the random
compari-
is
sonadded into the control system as shown in Figure 6. Figure 7 shows the comparison of
son of
load of the
the running
is added into the
running speed of
of the
control
speed three
system
the threeas systems.
shown in
systems. The
The overshoot
Figure and
and7overshoot
6. Figure
overshoot shows thetime
overshoot of
of the
compari-
time the
the running
CT-SMC speed of the three systems. The overshoot and overshoot time of the CT-SMC
son of thecontrol
CT-SMC running
control system
speedare
system of much
are the
much less
three than
than those
lesssystems. The
those of the
the other
other two
ofovershoot andcontrol
two overshoot
control systems.
time of the
systems.
control system are much less than those of the other two control systems.
CT-SMC control system are much less than those of the other two control systems.
Load/N
Load/N
Load/N

Figure 6.
Figure6.
Figure Random
6. Random load
Random load added
load added to
addedto the
tothe system.
thesystem.
system.
Figure 6. Random load added to the system.

Figure7.7. Comparison
Figure Comparison of
of running
runningspeed.
speed.
Figure 7. Comparison of running speed.
4.1.3. Observer Comparison
Through the simulation verification, the superior control performance of the CT-SMC
system designed in this paper is proven. On the basis of the CT-SMC system, the traditional
Electronics 2022, 11, x FOR PEER REVIEW 12 of 16

4.1.3. Observer Comparison

Electronics 2022, 11, 1394 11 of 15
Through the simulation verification, the superior control performance of the
CT-SMC system designed in this paper is proven. On the basis of the CT-SMC system, the
traditional SMO is added to compare with the designed F-ST-SMO. The speed of the
SMO
givenissystem
addedisto1.5
compare
m/s, and with
thethe designed
speed rises toF-ST-SMO.
2 m/s at 1 The
s, sospeed of the given
as to analyze system
the tracking
is 1.5 m/s, and the speed rises to 2 m/s at 1 s, so as to analyze
situation and dynamic response ability of the observer at different speeds.the tracking situation and
dynamic response ability of the observer at different speeds.
It can be seen from Figure 8 that the traditional SMO observation speed will have
largeItchattering,
can be seenandfromtheFigure 8 that
observer the traditional
directly gives the SMOerror observation speed willtohave
caused by chattering the
large
speed controller of the control system, resulting in a decrease in the overall to
chattering, and the observer directly gives the error caused by chattering the speed
accuracy of
controller of the control system, resulting in a decrease in the overall accuracy of the control
the control system. In the simulation diagram, the medium tracking speed fluctuates
system. In the simulation diagram, the medium tracking speed fluctuates around the
around the reference speed. In the F-ST-SMO system designed in this paper, due to the
reference speed. In the F-ST-SMO system designed in this paper, due to the action of the
action of the fuzzy controller, the output changes to the sliding mode gain, which validly
fuzzy controller, the output changes to the sliding mode gain, which validly reduces the
reduces the buffeting of the traditional SMO and has higher accuracy.
buffeting of the traditional SMO and has higher accuracy.

(a)

(b)
Figure 8.
Figure 8. Comparison
Comparison ofof observation
observation effects
effects of
of observers:
observers: (a)
(a) waveform
waveform of
of observed
observed velocity
velocity and
and
actual velocity of conventional SMO system; (b) waveform of observed velocity and actual velocity
actual velocity of conventional SMO system; (b) waveform of observed velocity and actual velocity
of THE F-ST-SMO system.
of THE F-ST-SMO system.

4.2. Experiment
Compared with
Compared withthe thesimulation
simulation environment,
environment, the the experimental
experimental environment
environment has morehas
more external
external disturbances,
disturbances, and thereandisthere is a heating
a heating phenomenonphenomenon in the operation
in the operation of the
of the electrical
electrical generator.
generator. Building Building an experimental
an experimental platformplatform for verification
for verification is conducive
is conducive to furtherto
improving the control
further improving system,system,
the control such that thethat
such designed algorithm
the designed can be can
algorithm better
be and
betterfaster
and
applied in practical
faster applied applications.
in practical The experimental
applications. platform
The experimental as shown
platform in Figure
as shown 9 is built
in Figure 9 is
in thisinpaper,
built whichwhich
this paper, is mainly composed
is mainly of upper
composed computer,
of upper servoservo
computer, driver,driver,
control card,
control
grating sensorsensor
card, grating and precision linear motor.
and precision linearThe on–off
motor. Thecontrolled electromagnetic
on–off controlled weight is
electromagnetic
used
weightas is
the loadasofthe
used theload
linearof motor. During
the linear theDuring
motor. operation
the of the linear
operation ofmotor, the sensor
the linear motor,
transmits the position signal and current signal to the control board for closed-loop control
operation. The encoder is used to compare with the observer designed in this paper. The
motor parameters selected in this paper are shown in Table 2.
Electronics 2022, 11, x FOR PEER REVIEW 13 of 16
Electronics 2022, 11, x FOR PEER REVIEW 13 of 16

the sensor transmits the position signal and current signal to the control board for
Electronics 2022, 11, 1394
the sensor transmits
closed-loop the position
control operation. The signal
encoderand current
is used to signal
compareto with
the control board
the observer for
12 ofde-
15
closed-loop control operation. The encoder is used to compare with the observer
signed in this paper. The motor parameters selected in this paper are shown in Table 2. de-
signed in this paper. The motor parameters selected in this paper are shown in Table 2.

PMLSM
PMLSM

Computer
Computer

Control and drive circuit

Control and drive circuit

Figure 9. Experimental platform.

Figure9.9.Experimental
Figure Experimentalplatform.
platform.
First, the proposed CT-SMC control system is built and compared with the tradi-
tionalFirst,
First, theproposed
PI control
the proposed CT-SMC
system,CT-SMC
and then control
the
control system
traditional
system is built
SMC
is built and
control
and compared
system,
compared thewith
with the tradi-
dynamic
the per-
traditional
tional
formance,
PI PI control system,
and anti-disturbance
control system, and then the traditional
performance
and then the traditional SMCof SMC control
the controller
control system, the system,
aredynamic the
analyzed. dynamic per-
The given
performance,
formance,
and
speed of theand
anti-disturbance anti-disturbance
system performance performance
was set as 0.8–1.5 of them/s. of the
controller
Figure are
10controller
analyzed.
shows the are
The analyzed.
given speed
dynamic Theof
effect given
the
under
speedcontrol
system
three of
wasthesetsystem wasFigure
as 0.8–1.5
strategies. set asFigure
m/s. 0.8–1.510
10a–c m/s.
shows
shows Figure
thethe 10 showseffect
dynamic
comparison the dynamic
diagramsunder effect
ofthree
the under
control
running
three control
strategies.
speed and Figure strategies.
reference 10a–c
speed Figure
shows 10a–c
the
of the PI showssystem,
comparison
control the comparison
diagrams thediagrams
SMCofcontrol systemof
running theCT-SMC
speed
and running
and ref-
speed
erence and
speed reference
of the PI speed
control of the
system,PI control
SMC system,
control SMC
system control
and
control system, respectively. Figure 10d–f shows the comparison of overshoot, regulation system
CT-SMC and
control CT-SMC
system,
control
time andsystem,
respectively.
error ofrespectively.
Figure the10d–f
threeshows Figure
control the 10d–f shows
comparison
systems. It can ofthe comparison
beovershoot,
concluded of overshoot,
regulation
from time regulation
the analysis and error
that the
time
of theand
three
traditional error of control
control
SMC thesystems.
threesystem
control
It can systems.
has bemore It
concluded can be
room concluded
from
for from compared
the analysis
improvement the analysis
that that the
the traditional
with the
traditional
SMC control
current more SMC
system
maturecontrol
has system
more
PI control roomhasfor
system. more room
improvement
It has for improvement
a larger compared
overshoot and with compared
the current
longer with the
more
adjustment
current
mature more
PI mature
control PI
system. control
It has asystem.
larger It has
overshoot a larger
and overshoot
longer
time. Through the improved CT-SMC, the overshoot and adjustment time are greatly and
adjustment longer
time.adjustment
Through
the improved
time.
reduced,Through
and theCT-SMC,
the isthe
improved
error alsoovershoot
CT-SMC,
smaller. and theadjustment
overshoottime and are greatly reduced,
adjustment time areand the
greatly
error is also
reduced, andsmaller.
the error is also smaller.

(a) (b) (c)

(a) (b) (c)

(d) (e) (f)

(d) (e) (f)
Figure 10. Dynamic performance comparison of the three control effects: (a) speed of PI control sys-
tem; (b) speed of SMC control system; (c) speed of CT-SMC control system; (d) overshoot comparison
of the three control systems; (e) adjustment time comparison of the three control systems; (f) error
comparison of the three control systems.
 Figure 10. Dynamic performance comparison of the three control effects: (a) speed of PI control
system; (b) speed of SMC control system; (c) speed of CT-SMC control system; (d) overshoot
Electronics 2022, 11, 1394 comparison of the three control systems; (e) adjustment time comparison of the three control13sys-
of 15
tems; (f) error comparison of the three control systems.

Figure 11 shows the operation of the three control systems at a given speed of 1.2
m/s and Figure
with11a shows the operation
50 N load of the
added at 0.4 three control
s. Figure systemsthe
11a–c shows at operating
a given speed
speedof 1.2 m/s
wave-
and with a 50 N load added at 0.4 s. Figure 11a–c shows the operating speed
forms of the three control systems, and Figure 11d–f shows the speed errors of the three waveforms
of the three
control control
systems aftersystems,
loading.and Figure 11d–f
According to theshows the when
analysis, speed the
errors of was
load the three
added,control
the
systems after loading. According to the analysis, when the load was added,
fluctuation of the SMC control system decreased slightly compared with PI, but there the fluctuation
of the
was stillSMC control
a large system decreased
fluctuation. slightlyCT-SMC
The improved compared with PI,
control but there
system was still
not only has agood
large
fluctuation. The improved CT-SMC control system not only
dynamic performance, but also has good anti-disturbance performance.has good dynamic performance,
but also has good anti-disturbance performance.
1.5 1.5
1.21
1.25
1.2 1.2
1.15 1.19
1 1.1 1 0.4 0.41 0.42
1.05
0.4 0.5 0.6

0.5 0.5

0 0
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
time/s time/s

(a) (b) (c)

Error

(d) (e) (f)

Figure
Figure11.
11.Under
Under thethe
three control
three strategies,
control the the
strategies, operation condition
operation withwith
condition loadload
added at 0.4ats:0.4
added (a) s:
speed of PI control system; (b) speed of SMC control system; (c) speed of CT-SMC control system;
(a) speed of PI control system; (b) speed of SMC control system; (c) speed of CT-SMC control system;
(d) speed error of PI control system after 0.4 s; (e) speed error of SMC control system after 0.4 s; (f)
(d) speed error of PI control system after 0.4 s; (e) speed error of SMC control system after 0.4 s;
speed error of CT-SMC control system after 0.4 s.
(f) speed error of CT-SMC control system after 0.4 s.
CT-SMC can have a good control effect in dynamic response and anti-disturbance
CT-SMC can have a good control effect in dynamic response and anti-disturbance
performance. On the basis of selecting CT-SMC for the controller, traditional SMO and
performance. On the basis of selecting CT-SMC for the controller, traditional SMO and
F-ST-SMO are added for speed observation. Figure 12 is the speed operation when the
F-ST-SMO are added for speed observation. Figure 12 is the speed operation when the
given system speed is 1.5 m, and the observed speed of the observer is fed back to the
given system speed is 1.5 m, and the observed speed of the observer is fed back to the
speed
speedcontroller.
controller.Mechanical
Mechanicalsensors
sensorsare
areused
usedforforcomparison
comparisonwith withestimated
estimatedspeed.
speed.The
The
traditional
traditionalSMO
SMO hashas aa large
large jitter
jitterand
anda alarge
large distortion
distortion in the
in the speed-up
speed-up stage,
stage, andspeed
and the the
speed alsoa has
also has largea jitter
large after
jitterthe
after the speed
speed reaches reaches the reference
the reference speed. speed. In the observation
In the speed speed ob-
servation of F-ST-SMO, the observed speed is close to the real speed in
of F-ST-SMO, the observed speed is close to the real speed in both thethe speed risingboth thethe speed
stage
rising stage and the speed stable operation stage. Compared with the
and the speed stable operation stage. Compared with the traditional SMO, the F-ST-SMO traditional SMO,
the F-ST-SMO
is much is much
smaller smaller
than the than the
traditional SMO.traditional SMO.
The experimental results show that the F-ST-SMO sensorless control system based on
CT-SMO performs well in dynamic performance and anti-disturbance performance. The
sensorless control system simplifies the mechanical structure of the control system and
greatly improves the control accuracy compared with the traditional SMO.
Electronics 2022, 11, x FOR PEER REVIEW 15 of 16
Electronics 2022, 11, 1394 14 of 15

(a) (b)

(c) (d)
Figure 12. Comparison of the operation of the two observers; (a) comparison between the observa-
Figure 12. Comparison of the operation of the two observers; (a) comparison between the observation
tion speed and the actual speed of conventional SMO; (b) comparison between the observation
speed and the actual speed of conventional SMO; (b) comparison between the observation speed and
speed and the actual speed of F-ST-SMO; (c) observation error of conventional SMO; (d) observa-
the of
tion error actual speed of F-ST-SMO; (c) observation error of conventional SMO; (d) observation error of
F-ST-SMO.
F-ST-SMO.
The experimental results show that the F-ST-SMO sensorless control system based
5. Conclusions
on CT-SMO performs well in dynamic performance and anti-disturbance performance.
In this paper, a CT-SMC and F-ST-SMO control system based on the PMLSM mathe-
The sensorless control system simplifies the mechanical structure of the control system
matical model is proposed. This method provides a solution for high-precision operation
and greatly improves the control accuracy compared with the traditional SMO.
of a PMLSM sensorless system. The mechanical motion equations of PMLSM are analyzed,
and a speed closed-loop controller is designed using a continuous terminal sliding mode
5. Conclusions
control algorithm. The voltage equation of PMLSM was rewritten in the static coordinate
In this paper,
system, a CT-SMC
and F-ST-SMO was and F-ST-SMO
designed controlthesystem
to replace basedmechanical
traditional on the PMLSM sensor. The
mathematical model is proposed. This method provides a solution
simulation and experimental verification of the designed control system for high-precision
under variable
operation
speed ofand
a PMLSM sensorlessshow
load conditions system.
thatThe
the mechanical motion equations
dynamic performance of PMLSM
of the designed control
are analyzed,
system isand a speed
better, and closed-loop
the position controller is designed
tracking error is greatlyusing a continuous terminal
reduced.
sliding mode control algorithm. The voltage equation of PMLSM was rewritten in the
static Author
coordinate system, and
Contributions: F-ST-SMO and
Writing—review wasediting,
designed to replace
supervision, the administration,
project traditional me- funding
chanical sensor. Z.L.;
acquisition, The writing—review
simulation andand experimental verification
editing, supervision, projectofadministration,
the designedfunding
controlacquisi-
system tion, H.S. variable
under (Z.L. andspeed
H.S. contributed equally to this
and load conditions work
show as corresponding
that authors); methodology,
the dynamic performance of
the designed control system is better, and the position tracking error is greatly reduced. have
software, writing—original draft preparation, J.W. and S.W.; validation, S.F. and Y.Z. All authors
read and agreed to the published version of the manuscript.
AuthorFunding:
Contributions: Writing—review
This work is supported byand
the editing,
Nationalsupervision, project
Natural Science administration,
Foundation of Chinafunding
(no. 51877070,
acquisition, Z.L.; writing—review
U20A20198, and editing,
51577048), the Natural Sciencesupervision,
Foundation ofproject
Hebeiadministration, funding
Province of China acqui-
(no. E2021208008),
sition, the
H.S.Talent
(Z.L. and H.S. contributed equally to this work as corresponding authors); methodol-
Engineering Training Support Project of Hebei Province (A201905008), the National
ogy, software,
Engineeringwriting—original
Laboratory ofdraft preparation,Motor
Energy-saving J.W. and
andS.W.; validation,
Control S.F. and
Technique, Y.Z.
Anhui All au- (no.
University
thors have read
KFKT201901).and agreed to the published version of the manuscript.
Funding: This work
Conflicts is supported
of Interest: by the
The authors National
declare Natural
no conflict Science Foundation of China (no.
of interest.
51877070, U20A20198, 51577048), the Natural Science Foundation of Hebei Province of China (no.
E2021208008), the Talent Engineering Training Support Project of Hebei Province (A201905008),
the National Engineering Laboratory of Energy-saving Motor and Control Technique, Anhui Uni-
versity (no. KFKT201901).
Electronics 2022, 11, 1394 15 of 15

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