Abstract
This paper presents a robust sliding mode control (SMC)-based model reference adaptive system (MRAS) aimed at improving the dynamic performance of interior permanent magnet synchronous motor (IPMSM) drives. MRAS following a speed controller for IPMSM drives is developed. The error signal between the plant speed and MRAS speed is augmented to permit the prescribed specifications be maintained using SMC. The load disturbance is detected using a load torque estimator and is compensated through the q-axis current reference value. The load torque estimator is used to provide a feedforward value in the speed controller in order to decouple the load torque from the speed control. This method can improve IPMSM dynamic performance against the disturbance torque without increasing SMC gain due to both chattering and stability limitations. The complete field-oriented control of an IPMSM drive with the proposed controller is successfully implemented in real time using the DSP-DS1102 control board for a laboratory 1-hp motor. A performance comparison of the proposed controller with the conventional PI controller is also provided. The efficacy of the proposed controller is verified by simulation and experimentation under different operating conditions. It is found that the proposed controller provides an excellent speed response under load torque disturbance and parameter uncertainty.