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To reduce the convergence time and improve the antidisturbance capability of the permanent magnet synchronous motor (PMSM) drivers, a fast sliding mode speed controller based on a new compound reaching law (NCRL) and disturbance observer compensation technique is proposed. First, to solve the conflict between fast convergence rate and chattering reduction in the existing solutions, the NCRL is proposed by introducing the exponential function and the power term piecewise function. The convergence of NCRL is proven and the reaching time is certified to be independent of the system’s initial state. The proposed NCRL can effectively reduce the reaching time and smooth the output signal while maintaining the high tracking performance of the controller under different conditions. However, external load disturbances may degrade the performance of the proposed NCRL-based speed controller. The proposed controller is then combined with an improved sliding mode observer (ISMO), named the NCRL + ISMO method, to improve the estimation accuracy of the lumped disturbance and the robustness of the system. The stability of the proposed method is analyzed by the Lyapunov function. Experimental results show that the proposed method can reduce speed fluctuation and convergence time and enhance antidisturbance capability.
Guo et al. (Mon,) studied this question.