Non-singular Terminal Sliding Mode Control of Permanent Magnet Synchronous Motor Based on the new ultra-local model

Aiming at the problems of the speed loop control system of permanent magnet synchronous motor being easily disturbed by the outside world and the control was not accurate enough, a non-singular terminal sliding mode control algorithm based on a new ultra-local model was designed. According to the input and output of the system, a new hyperlocal model of the velocity loop is established, and the velocity loop controller with better tracking performance is designed by using the new sliding mode approach law by combining the non-singular terminal sliding mode. The unknown term of the new hyperlocal model, i.e., the unmodeled dynamics of the system, is estimated by the sliding mode observer, and the Sigmoid function is used in the observer to design the approximation law, which effectively weakens the chatter. The simulation results showed that the NTSMC method made the system have excellent dynamic response and anti-interference ability, and the dependence of the controller on the motor system model was greatly reduced under the premise of maintaining robustness.