Adaptive Super-Twisting Controller-Based Modified Extended State Observer for Permanent Magnet Synchronous Motors

A novel sliding mode control (SMC) strategy incorporating an adaptive super-twisting algorithm is developed for permanent magnet synchronous motors (PMSMs), effectively mitigating high-frequency chattering while enhancing external disturbance rejection capabilities. Initially, a sliding surface is crafted based on the dynamic characteristics of the PMSM and real-time feedback. The super-twisting algorithm is subsequently applied adaptively to dynamically adjust the control effort required to maintain the sliding mode state, thereby ensuring precise and prompt intervention to uphold system stability and enhance response speed. Additionally, in light of operational challenges such as road-induced load disturbances, a Lyapunov-based disturbance observer is proposed for precise load torque estimation in PMSM systems. The efficacy of the proposed control and observation methods is substantiated through a hardware-in-the-loop experiment test, demonstrating that the developed sliding mode controller, leveraging the adaptive super-twisting algorithm, exhibits superior tracking and disturbance rejection capabilities, reduces steady-state current error, and bolsters system parameter robustness, and the modified extended state observer (MESO) exhibits commendable estimation performance.