Abstract：Permanent magnet synchronous motor (PMSM) has become a core component of modern high-performance motion control systems, especially suitable for industrial robots, electric vehicle power systems, and food machinery. PMSMs often encounter disturbances such as parameter uncertainties and load torque pulsations, which lead to increased tracking errors, reduced control accuracy, and system oscillation or instability under high-speed dynamic responses or heavy-load conditions. However, the sliding mode control method often lacks robustness. This paper proposes a control strategy that integrates a finite-time disturbance observer (FTDOB) with a novel non-singular terminal sliding mode control (NNTSMC). This method constructs a PMSM system dynamics model, with parameter uncertainties and external load disturbances as lumped disturbance terms. The FTDOB achieves unified observation and dynamic compensation of the lumped disturbances by introducing a time-varying scaling function, ensuring that the estimation error converges to zero within a preset finite time. The integral term suppresses steady-state errors, improving observation accuracy in practical applications. Regarding the control strategy, NNTSMC uses a segmented sliding-surface structure. When the system state deviates from the equilibrium point, nonlinear power terms dominate the control process, accelerating state convergence. When close to the sliding surface, it smoothly switches to the linear segment, maintaining the continuity of the control action without sacrificing robustness or dynamic performance, avoiding singularity, and effectively suppressing chattering. Additionally, by feeding the disturbance estimation values from FTDOB into the sliding surface, active disturbance compensation is achieved, significantly enhancing the system's anti-disturbance performance. An experimental platform is built using the DSP28379D digital signal processor, the BOOSTXL-DRV8305 gate drive module, and a three-phase surface-mounted PMSM. The control system adopts a high-frequency architecture of a 10 kHz speed loop and a 20 kHz current loop to ensure high-precision control. In a severe step test at 1 000 r/min with a 5 N·m load, the FTDOB+NNTSMC scheme limits speed fluctuations to ±14 r/min, reducing PI control by 75% and recovery time to 0.01 s. FTDOB converges within 0.3 s, with a steady-state observation error of no more than ±0.2 N·m, and the estimation accuracy is 60% higher than that of traditional disturbance observers. In a trapezoidal speed-tracking test from 800 r/min to 1 500 r/min, the proposed method produces only 1~2 r/min of overshoot, with a regulation time of 0.02~0.04 s and a steady-state accuracy of ±1 r/min. In a sinusoidal reference speed tracking test with an input of 1 000sin(2πt) r/min, the tracking error remains within ±2 r/min, demonstrating excellent dynamic tracking performance. Further analysis of the control output, current waveform, and sliding surface indicates that the system effectively suppresses chattering and achieves smooth and stable control performance. The proposed FTDOB+NNTSMC framework addresses finite-time disturbance estimation, non-singular convergence, and chattering suppression. It significantly enhances the system's robustness while maintaining excellent dynamic and steady-state performance, providing a reliable solution for high-performance PMSM drive systems.
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2026, Vol. 41 
