Integrated Speed and Current Control with Adaptive Sliding Mode Based Deadbeat Predictive Strategy Considering Uncertainties for In-Wheel PMSMs

In this paper, an adaptive sliding mode control (ASMC) combined with deadbeat predictive current control (DPCC) is developed to enhance current tracking precision and improve speed robustness in in-wheel permanent magnet synchronous motor (PMSM), particularly under uncertainties such as parameter mismatches and external disturbances. These uncertainties are modeled as lumped disturbances within the PMSM drive system. First, the ASMC is developed to enhance speed tracking, while the adaptive reaching law is employed to mitigate chattering and expedite the rise time, ensuring fast convergence to the desired speed. Next, the DPCC is applied to further improve current regulation performance. Additionally, disturbance observer is designed to estimate the lumped disturbances and provide compensation in the speed and current control loop, thereby improving the drive performance robustness. The effectiveness of the proposed ASMC-DPCC method is demonstrated through simulations on in-wheel PMSM motors, showing improved tracking accuracy and disturbance rejection.