Compensation Function Observer-Based Sliding Mode Control for PMSM Subject to Time-Varying Disturbances

Disturbances pose a significant threat to the operational stability of the permanent magnet synchronous motors. This article investigates the position tracking control problem for permanent magnet synchronous motors subject to time-varying disturbances. The traditional extended state observer exhibits low estimation accuracy when facing time-varying disturbances. A compensation function observer is thus introduced, based on which a sliding mode control strategy is developed to enhance the position tracking precision and the disturbance rejection capability for permanent magnet synchronous motors. It is demonstrated that under the proposed method, different time-varying disturbances can be accurately estimated and the chattering phenomenon of the controller is effectively alleviated. It is rigorously proved mathematically that the closed-loop system is asymptotically stable. Finally, simulations and experiments are carried out on a permanent magnet synchronous motor platform, which demonstrate that the proposed method exhibits significant advantages over the existing control methods in position tracking precision and disturbance rejection.