A novel reaching law based on integral sliding mode control of permanent magnet synchronous motors

For a permanent magnet synchronous motor (PMSM) vector control system, based on integral sliding mode control of the speed loop controller, a new reaching law which can effectively restrain the inherent chattering problem of traditional sliding mode variable structure control is presented. To avoid control quantity of acceleration signal requirement, enhancing the system anti-interference ability, the sliding mode with error signal integral items is proposed. At the same time, a novel reaching law based on the conventional exponential reaching law which can suppress the chattering and improve the reaching speed is proposed. The results of simulations confirm that the proposed sliding mode controller can achieve accurate speed control. A comparison study on the tracking performance for traditonal sliding mode controller, the proposed sliding mode controller is performed.