This paper presents a torque oscillation attenuation method for permanent magnet synchronous motors (PMSMs) based on the combination of sliding-mode control (SMC) and the equivalent input disturbance (EID) approach. To deal with the changes in PMSM parameters, we explored a continuous-domain ant colony optimization (CDACO) method to design a control system for such a plant. This is the first application of SMC-EID to uncertain PMSM plants, with CDACO enabling robust parameter tuning in continuous spaces. First, we designed an EID estimator to estimate the disturbance caused by torque oscillation. Next, we added the estimated disturbance to the sliding-mode controller to improve disturbance attenuation performance. Then, we extended an ant colony optimization (ACO) algorithm to the continuous domain to optimize controller parameters for an uncertain plant. Finally, a speed control experiment was carried out on a two-mass experimental system for PMSMs to demonstrate the validity of the method. The experimental results show that our method yields better control performance than the SMC.
Jiang et al. (Sun,) studied this question.