Backstepping Terminal Sliding Mode Control for Surface Permanent Magnet Synchronous Motor

There are often friction or even mechanical transmission clearance in the position tracking system of surface permanent magnet synchronous motor, which restricts the performance increase of the motor control system. When the system is subjected to internal parameter perturbation or load disturbance, it is difficult to achieve high-performance position tracking by conventional control. Combining the advantages of non-singular terminal sliding mode and backstepping control, a backstepping terminal sliding mode control strategy is put forward in this article. First, backstepping sliding mode variable structure control method is put forward based on the basic framework of vector control of surface permanent magnet synchronous motor; second, non-singular terminal sliding mode is introduced to improve the dynamic response performance of the controller accelerating system. Simulation 1 results show that the motor position tracking control system under the backstepping terminal sliding mode variable structure control method proposed in this article has quicker system dynamic response, higher tracking accuracy and better system robust performance under external load disturbance and system parameter perturbation.