Adaptive Gain-Based Double-Loop Full-Order Terminal Sliding Mode Control of a Surface-Mounted PMSM System

This article proposes a new adaptive gain, full-order terminal sliding mode control algorithm for the speed regulation of a surface-mounted permanent magnet synchronous motor (SPMSM) control system. To deal with the mismatched uncertainties in the double-loop nonlinear system of the SPMSMs, a virtual control technique is constructed with the full-order terminal sliding mode control to ensure that the tracking error trajectory can converge to equilibrium in finite time. Owing to the integral control law, the output signals of the controllers are smoothed, with the chattering phenomenon attenuated and the gain-margin overestimation avoided. Comprehensive simulation and experimental results have been carried out to demonstrate the superiority of the proposed method in improving tracking accuracy, rapidness, and robustness to the matched and mismatched uncertainties.