Research on torque pulsation minimization strategy based on fractional order ILC and sliding mode control PMSM

In the operation of Permanent Magnet Synchronous Motor (PMSM), torque pulsations caused by cogging effect, current harmonics and other factors limit the high-precision control task and further degrade the performance of the servo system. In this paper, a fractional-order iterative learning sliding mode control (FOIL-SMC) algorithm is proposed to address the problem of large torque pulsation generated by traditional PI-controlled motors. Fractional-order iterative learning sliding mode control (FOIL-SMC) algorithm combines the self-correcting ability of high accuracy and high learning bandwidth with the strong robustness of sliding mode control, and is operated in parallel structure, and the convergence of the algorithm is verified by using the Parseval’s energy-frequency theorem and the Lyapunov’s theorem, respectively. And the parameters are calibrated by amplitude-frequency phase conditions. The simulation results show that the proposed FOIL-SMC control has torque pulsation suppression in all frequency bands, especially the suppression at high frequency pulsation has significant effect.