Active-Disturbance-Rejection-Based Sliding-Mode Current Control for Permanent-Magnet Synchronous Motors

To improve the tracking performance of the current controllers of permanent-magnet synchronous motor (PMSM) drive systems that are subject to internal disturbances, such as parameter variations, a novel active-disturbance-rejection-based sliding-mode current control (ADR-SMCC) scheme for PMSM drives is proposed in this article. First, a fast-response SMCC is designed based on the upper bound of the internal disturbance. Then, an extended state observer (ESO) is designed to estimate the internal disturbance in real time without the need for an accurate mathematical model of the PMSM. The parameters of the ESO can be easily designed based on the desired bandwidth of the ESO. The estimated internal disturbance is then used to update the control law of the SMCC in real time. The resulting ADR-SMCC has improved steady-state and transient current tracking performance and enhanced robustness to internal disturbances. The stability of the closed-loop PMSM drive system with the ADR-SMCC is proven by the Lyapunov theory. The ADR-SMCC is validated by experimental results for a 200-W salient-pole PMSM drive system.