Cascade control-based ICFF-SMC with adaptive disturbance compensator for PMSM

The non-ideal factors of permanent magnet synchronous motor (PMSM) drive system, such as harmonics of rotor flux, cogging torque, and voltage source inverter (VSI) nonlinearity cause the speed ripple and deteriorate the speed and current regulation performance. To suppress these disturbances, this paper proposes a novel cascaded robust current and speed control stragety for PMSM. The proposed method consists of three control terms: a proportional term, an integral continuous fractional function sliding mode (ICFF-SMC) term, and an adaptive disturbance compensation term. The first and third control terms are employed to guarantee the system stability, and the second control term is used to suppress the nonlinear disturbance and parameter uncertainty and to reduce the chattering phenomenon. Finally, the simulation results show the validity of the proposed control scheme.