Robust speed and position control of PMSM

In the paper, the problem of robust speed and position control of a permanent magnet synchronous motor is analysed. The idea of the proposed speed controller is based on the combination of sliding mode control with fuzzy logic rules. The introduction of an integral module to the sliding mode controller leads to fast system dynamics of slight sensitivity to the load parameters variation, effective chattering reduction and elimination of steady state control error. Fuzzy adaptive mechanism tuning a switching gain of sliding-mode controller reduces the speed dynamic error caused by change of load torque. Experimental results obtained during investigation of constructed laboratory stand verify theoretical results and prove good quality of speed and position control.