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Real time simulation study on backstepping sliding mode control of permanent magnet synchronous motor

A novel nonlinear backstepping sliding mode controller is designed for improving the speed dynamitic tracking performance of permanent magnet synchronous motor (PMSM) control system, and stability of the controller is proved at one time. The PMSM system is divided into three first-order subsystems according to backstepping algorithm, exponential reaching law is adopted to derive the sliding mode (SM) surface equation, Lyapunov function is constructed to ensure the global asymptotic convergence of the controller. A second-order filter is adopted to adjust the given reference speed, suppress speed overshoot in the starting course of PMSM and obtain the first-order differential & second-order differential of reference speed simultaneously. In order to verify the effectiveness of the given backstepping sliding mode speed controller, hardware in loop (HIL) experiment of PMSM is achieved based on dSPACE and external driving circuits. The Simulink simulation and experiment results showed that this backstepping sliding mode controller can guarantee fast speed dynamic response and strong robustness of PMSM system under the condition of variable reference speed and load torque.