Abstract：Due to their high efficiency, high power density, and compact structure, permanent magnet synchronous motors (PMSM) have been widely used in many fields, such as industrial robots, medical equipment, and household appliances. However, the PMSM system essentially has multivariable, nonlinear, and time-varying coupling characteristics, easily affected by external load disturbances and internal parameter fluctuations in practical applications. Traditional control methods are challenging in meeting the requirements of speed tracking accuracy in high-performance application scenarios. This paper proposes a fractional-order fast terminal sliding mode control (FTSMC) method based on a composite observer. Firstly, the mathematical model of a non-salient pole PMSM with uncertainty is established. Then, the fractional-order calculus operator with memory property is introduced into the fast terminal sliding mode surface, and the fractional-order FTSMC method is designed. Thus, the system state trajectory can quickly approach the predefined sliding mode surface in a limited time. Fractional-order FTSMC has stronger flexibility and faster convergence speed than the traditional integer-order sliding mode control, which can effectively deal with the characteristics of nonlinear and time-varying systems. In addition, the fractional calculus operator with memory property is added to the sliding mode surface, which further weakens the chattering phenomenon common in traditional sliding mode control and improves the stability and control accuracy of the system. Secondly, aiming at the difficulty of controller parameter selection, achieving the optimal anti-disturbance performance is difficult while ensuring tracking accuracy. We adopt the fuzzy adaptive method to update the system parameters in real-time. The control parameters are dynamically adjusted according to the system's current state through the fuzzy logic reasoning mechanism, and the system can maintain the best performance under different working conditions. This method not only simplifies the design process of the controller but also significantly improves the system's speed-tracking accuracy and anti-interference ability. A composite observer structure is designed enhances the system's robustness to load disturbance. The sliding mode disturbance observer and the load torque observer record the system's mismatched and matched disturbances, improving the steady-state tracking accuracy and anti-disturbance performance. The experimental results show that the proposed method is practical and feasible, and the system's tracking accuracy and anti-interference performance are significantly improved. Finally, experimental tests were conducted under no-load, loading, and unloading conditions. The experimental results show that this method exhibits excellent speed regulation ability and stability, significantly improving the tracking accuracy and anti-interference performance of the PMSM servo system.
滕然, 赵希梅. 基于复合观测器的PMSM分数阶快速终端滑模速度跟踪控制[J]. 电工技术学报, 2025, 40(16): 5259-5270.
Teng Ran, Zhao Ximei. Fractional-Order Fast Terminal Sliding Mode Speed Tracking Control Based on Composite Observer for PMSM. Transactions of China Electrotechnical Society, 2025, 40(16): 5259-5270.
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2025, Vol. 40 
