Adaptive Robust Control of Inverter-Fed PMSM Servo System Using Continuous Sliding Mode

This paper investigates the integrated modeling and robust control of permanent magnet synchronous motor (PMSM) servo system. By analyzing dead time and switching delay of inverter, an integrated nonlinear model of PMSM, inverter and mechanical load is established. A continuous nonsingular terminal sliding mode (NTSM) method is proposed, which utilizes the concept of relative degree and features of free-chattering and finite-time convergence, and then is adopted to design speed and current controllers. Meanwhile, adaptive control is injected into controller design to automatically overcome unknown uncertainties of inverter and mechanical load. Simulation results are presented to valid the proposed method.