EXPERIMENTAL VERIFICATION OF CHATTERING FREE SLIDING MODE CONTROL OF THE DRIVE POSITION EMPLOYING PMSM

Ján Vittek - Stephen J. Dodds - Peter Briš - Marek Štulrajter - Pavol Makyš

   A new position controller for electric drives employing PMSM is presented based on the principles of sliding mode control and respecting the principles of vector control. The proposed controller is designed to be free of chattering and therefore suitable for high precision applications and has a parallel control structure for independent control of the motor excitation current and the rotor angle. To eliminate control chattering a smoothing integrator is introduced into both parallel controllers and furthermore the switching boundary is replaced by a boundary layer. The simulations and experimental results indicate that the proposed control system exhibits the desired robustness and therefore warrants further development and investigation.

Keywords: electric drives, position control, PMSM, sliding mode control, observer

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