• Applies a robust finite-time super-twisting sliding mode control (SMC) to slotless self-bearing motors (SSBM). • Validates the controller’s robustness against radial forces and load torques via simulations and dSPACE real-time experiments. • Demonstrates superior tracking performance with faster convergence and minimal overshoot compared to conventional PID and SMC. This paper presents a new application of robust finite-time super-twisting (RFTST) sliding mode control (SMC) for both position and rotation controls of slotless-self bearing motor (SSBM). The main contribution of this paper is demonstrating the effectiveness of the proposed reaching law through both simulation and experimentation under harsh working conditions involving disturbances on the rotational and translational axes. To achieve this, the mathematical model and physical operation of the motor are first provided, alongside a stability analysis of the SMC reaching law. Second, the applications of the given reaching law to the proposed motor is presented with a detailed stability analysis. Finally, simulation and experimental studies with practical scenarios are given to illustrate the efficacy of the proposed method for advanced motor drive systems. Traditional PID and sliding mode controllers are used to benchmark the proposed method under start-up, steady-state, and speed-changing conditions. In all test cases, the proposed method demonstrated superior performance with fast convergence and minimal overshoot.
Ngo et al. (Fri,) studied this question.