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<p>To improve the control accuracy and anti-disturbance capability of permanent magnet synchronous motor (PMSM) position servo system for point-to-point motion, a position speed integrated sliding mode controller is proposed based on a new hybrid reaching law (NHRL) and an improved sliding mode observer. First, the NHRL is introduced by incorporating exponential and power functions to address the contradiction between servo dynamic response and system chattering in existing schemes. The convergence of the NHRL is rigorously proved. It is demonstrated that the NHRL effectively reduces system chattering and reaching time, and the reaching time has an upper bound value independent of the system's initial state. To cope with the negative impact of external disturbances, the proposed NHRL-based controller is integrated with an improved extended sliding mode observer (IESMO), referred to as NHRL + IESMO method, to enhance the accuracy of disturbance estimation and system robustness. Experimental results show that the proposed method can simultaneously improve the positioning accuracy and dynamic response of the servo system while strengthening its disturbance rejection capability.</p>

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A novel position speed integrated sliding mode controller for PMSM servo system using new reaching law with disturbance compensation

  • 期刊论文

  • 发表日期：

    2026年7月10日

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  • Mingyu Chen,
  • Bo Wang,
  • Guanghui Wang,
  • Qinquan Qiao,
  • Zheng Wang

摘要

To improve the control accuracy and anti-disturbance capability of permanent magnet synchronous motor (PMSM) position servo system for point-to-point motion, a position speed integrated sliding mode controller is proposed based on a new hybrid reaching law (NHRL) and an improved sliding mode observer. First, the NHRL is introduced by incorporating exponential and power functions to address the contradiction between servo dynamic response and system chattering in existing schemes. The convergence of the NHRL is rigorously proved. It is demonstrated that the NHRL effectively reduces system chattering and reaching time, and the reaching time has an upper bound value independent of the system's initial state. To cope with the negative impact of external disturbances, the proposed NHRL-based controller is integrated with an improved extended sliding mode observer (IESMO), referred to as NHRL + IESMO method, to enhance the accuracy of disturbance estimation and system robustness. Experimental results show that the proposed method can simultaneously improve the positioning accuracy and dynamic response of the servo system while strengthening its disturbance rejection capability.