Finite-Time Speed Regulation for Converter-Driven DC Motors via Terminal Sliding Mode Control Approach

Converter-driven direct current motors are widely used in various high-performance industrial systems. Practically, the servo system is influenced by multi-source disturbances (e.g. load torques, cogging torques, parameter perturbations and so on) simultaneously, which brings barriers to high-performance speed regulation. Moreover, for converter-driven direct current motor systems, full-state measurement usually needs considerable cost and is hardly achieved. To this end, this paper puts forward a terminal sliding mode control approach basing on a universal finite-time observer for handling the multi-source disturbances and achieving finite-time convergence in the case of only angular velocity measurement. It is rigorously proved that the unmeasurable states and disturbances can be estimated simultaneously, and the angular velocity can track the desired value in a finite time. Comparative simulations demonstrate that the proposed control strategy can provide finite-time tracking for the angular velocity as well as satisfactory disturbance rejection ability for the considered system.