Integral sliding mode control for permanent magnet synchronous motor based on load observer

Based on the mathematical model of the surface PMSM, this paper proposes a nonlinear integral sliding mode controller based on torque observer. The nonlinear integral sliding mode controller realizes high precision control and remains better transient performance. At the same time, extended state observer is used to evaluate the load torque of the system online, and a result of the observation is taken as disturbance feed forward compensation. The influence on the performance of control system caused by load torque disturbance can be inhibited. Theoretical analysis and experimental results show that the effectiveness of the proposed method. The system has satisfactory dynamic and static performance.