Resumen
In this paper, a backstepping sliding mode controller based on a nonlinear disturbance observer (NDO-SMC) is proposed to realize the high-performance speed control of a permanent magnet synchronous motor (PMSM). This paper compares the advantages and disadvantages of the traditional backstepping sliding mode control algorithm (SMC) and integral backstepping sliding mode control algorithm (I-SMC) in the face of mismatched disturbances. In view of the shortcomings of these two algorithms, the idea of using a disturbance observer to observe disturbance and carry out dynamic compensation is proposed, and the composite controller is designed. The overshoot and settling time is improved by 30% and 8 s, respectively, for the proposed NDO-SMC controller compared with the SMC controller. The simulation and experimental results illustrate that the designed controller not only effectively solves the torque jitter problem of SMC, but also improves the overshoot problem caused by the integral module of I-SMC. There is also a better matching degree between the theoretical derivation, the simulation results, and experimental data. It also proves that the composite control algorithm proposed in this paper provides a meaningful solution to the operation disturbance suppression problem of the permanent magnet synchronous motor.