Integral Sliding Mode Embedded Controller of PMSM Position Control

Sliding Mode Control (SMC) systems are designed to drive the system states onto surface in the state space, named sliding surface. Once the sliding surface is reached, sliding mode controls keep close to the sliding surface. To improve performance of permanent magnet synchronous motor (PMSM) position control system, the integral sliding mode control (ISMC) method is introduced in the control design of position control. In this research, the PMSM is built from ASDA motor with the driver. Raspberry is used to be microcontroller hardware using python programming. Linear Feedback Sliding Mode Control (LF-SMC), Bang-bang Integral Sliding Mode Control (BB-ISMC), Linear Feedback Integral Sliding Mode Control (LF-ISMC), and Internal Auto Gain Proportional Integral (PI) control will compared in this research. From the result, LF-ISMC with 0. 36s settling time has faster response time than another. BB-ISMC has settling time in 0. 6s, LF-SMC is 0. 57s, and internal auto gain PI control is 0. 51s. All the control methods show zero error steady state.