Research on Speed Control of PMSM Based on a New Sliding Mode Reaching Law of Fast Integral Terminal Sliding Mode Control With Iterative-Based High-Gain Disturbance Observer

A novel hybrid control algorithm is proposed in this paper to optimize the performance of the speed control system of permanent magnet synchronous motors (PMSM), allowing it to maintain ideal speed even under external disturbances and torque pulsations. Firstly, a new sliding mode reaching law (NSMRL) is presented and combined with a fast integral terminal sliding mode surface to reduce the system's convergence time without increasing the system's chattering. Secondly, a high-gain disturbance observer based on iterative learning control (ILC-HGO) is combined with the new sliding mode reaching law, enhancing the system's anti-disturbance capability. The stability of the proposed algorithm is theoretically analyzed using the Lyapunov method. Thirdly, MATLAB simulations and hardware-in-the-loop experiments were conducted to demonstrate the proposed algorithm's advantages over traditional approaches, showing faster convergence speed, smaller overshoot, and better robustness. Finally, the particle swarm optimization (PSO) algorithm is introduced to optimize the internal parameters of the control algorithm, further improving the control performance of the algorithm. The main contributions of this paper are as follows: 1) A new sliding mode reaching law (NSMRL) is proposed, significantly reducing the system's convergence time without increasing chattering; 2) A high-gain disturbance observer based on iterative learning control (ILC-HGO) is combined with the new sliding mode reaching law, enhancing the system's anti-disturbance capability; 3) The proposed algorithm is theoretically and experimentally verified, demonstrating significant improvements in convergence speed, overshoot, and robustness compared to traditional methods; 4) The particle swarm optimization (PSO) algorithm is introduced to optimize the control algorithm's internal parameters, further enhancing system performance.