GPIO Based Super-Twisting Sliding Mode Control for PMSM

Aiming at optimizing the tracking accuracy of permanent magnet synchronous motor (PMSM) speed regulation system, a super-twisting sliding mode (STSM) control technique combining disturbance observer is investigated in this brief. Since simply increasing the value of the control gain to enhance the robustness of PMSM system will bring unsatisfactory dynamical performance, a generalized proportional integral observer (GPIO) is first introduced to estimate the lumped disturbance. Then, a super-twisting sliding mode (STSM) controller is adopted to combine with the feedforward compensation from the aforementioned GPIO to construct a composite controller, which implies that this composite controller can adopt a smaller switching gain and achieve better tracking precision. Simulation and experimental results are provided to illustrate the proposed control algorithm.