Implementation of integral fixed-time sliding mode controller for speed regulation of PMSM servo system

Aiming at the control problem for the speed regulation system of permanent magnet synchronous motor (PMSM), an integral fixed-time sliding mode control algorithm with the disturbance estimation compensation is designed to improve PMSM system’s disturbance rejection ability in this paper. First of all, the integral fixed-time sliding mode surface is selected according to the error dynamical equation. Then an integral fixed-time sliding mode control algorithm is proposed and rigorous analysis method of the Lyapunov function is provided to demonstrate the speed tracking error will converge to zero in a fixed time. Besides, considering the effect of disturbance load torque, an integral fixed-time sliding mode control algorithm with disturbance estimation compensation is proposed. Through disturbance feedforward compensation, the integral fixed-time sliding mode control law can offer a better dynamical performance with smaller value for the speed chattering. Finally, comparison results of numerical experiments are provided to verify the effectiveness and superiority of the integral fixed-time sliding mode control method.