Application of Adaptive Fuzzy Sliding Mode

Controller in PMSM Servo System

Shanmei Liu
Sichuan Electric Power Research Institute
Chengdu, China
e-mail:Liushanmei706@yahoo.com.cn
Lijie Ding
College of Electrical Engineering, Zhejiang University
Hangzhou, China
e-mail: ding_lijie@163.com


AbstractAn adaptive fuzzy sliding mode controller is presented
for a nonlinear system with perturbed uncertainties of PMSM
(Permanent Magnet Synchronous Motor) associated with the
sliding mode control. This controller employs fuzzy control to
assign compensate according to experts experience, and adaptive
control to attenuate chattering caused by sliding mode control.
This method is applied to PMSM servo systems position control.
Both simulations and experiment results verify the validity and
robustness against uncertainties of load disturbance.
Keywords- Sliding Mode Control, Fuzzy Control, Adaptive
Control, Servo System, PMSM
I. INTRODUCTION
With the development of design and control techniques for
AC motors, high-performance AC servo systems have
already been applied in various areas such as automation
industry, manufacturing industry, etc. PMSM (Permanent
magnet synchronous motor) are ideal for advanced servo
control systems for their compact structure, high efficiency,
high air-gap flux density and high torque to inertia ratio.
However, the performance of PMSM servo systems may
become worse under external disturbances or internal
perturbations for the AC servo systems nonlinearity with
unknown virtual control coefficients and perturbed
uncertainties
[1-2]
. Thus, it is desired to find other effective
control schemes with no accurate mathematic model known
in order to guarantee the robustness of the servo system.
This paper presents an adaptive fuzzy sliding mode
controller (AFSMC) for PMSM servo systems nonlinearity
and uncertainty. In section II, the mathematic model of
PMSM is given. Then, AFSMC is proposed and developed in
detail in section III. Comparative simulations and experiment
results between AFSMC and conventional control method
are respectively shown in section IV and V. Finally, a
conclusion is given in section VI.
II. MATHEMATIC MODEL OF PMSM
For simplicity, several assumptions are made in the
mathematic model. Magnetic saturation is neglected and the
motor is assumed to have a smooth rotor and no saliency
effect is considered, thus . The induced EMF is
sinusoidal. Eddy current and hysteresis losses are assumed
negligible. As the field excitation is from permanent magnets,
there are no field current dynamics. The three-phase PMSM
Servo Systems electrical equation in d-q rotating reference
is given as follow
d
L L =
q
[3]
:
d d
q q
0
0
s d
n
d d
n f q s
q n q
n f l
R u
p
L L
i i
p R
i p i
L L L
p T
B
q
u
J J J
e

e
e e

(
( (
(
( (
(
(
( (
= +
(
(
( (
(
(
( (

(
( (
(

(
( (

(1)
Where
d
L , , , , , are respectively d, q frame
inductance, stator voltage and current;
q
L
d
u
q
u
d
i
q
i
e is speed of the
rotor;
s
R is stator resistance;
n
P is pole number;
f
is
rotor flux; J is rotor inertia; T is load torque.
l
As can be seen in equation (1), the mathematic model of
PMSM is nonlinear and multivariate. The simulation model
of PMSM servo system always consists of three closed-loops
for position, speed and current. According to Field Oriented
Vector Control and Clark/Park transformation, a servo
control configuration of the PMSM servo system is
illustrated in Fig.1:
r
u r
e
*
q
i
u e
q
i
+ + +

*
d
i
d
i
+

q
u
d
u
u
o
u
|
a
i
b
i
i
|
i
o

Fig.1 Control Scheme of PMSM servo system
Where denotes position loop; denotes speed
loop;
AC
denotes current loop;
r
APR
G
ASR
G
R
G u is the reference
position; u and e are the position and speed of the rotor
measured by encoder.
u e =

(2)
As shown in Fig.1, it has an inner loop of current
regulation using space vector control for fast tracking the
current vector and torque-pulsation reduction, and a speed
loop for driving the rotor to the desired speed. The position
2010 International Conference on Computing, Control and Industrial Engineering
978-0-7695-4026-9/10 $26.00 2010 IEEE
DOI 10.1109/CCIE.2010.142
95
control loop, which is also the outermost loop for
compensating the current and speed loop, is to hold the rotor
at desired position.
In control mode, from equation (1) and (2) 0
d
i =

n f
l
q
p
T B
i
J J J

u u = +

(3)
Set:
B
f
J
u =

,
n f
p
g
J

= >0,
l
T
d
J
= ,
q
u i =
Then: f gu d u = + +

(4)
Where denotes the input control parameter. u
III. PRINCIPLE OF AFSMC
High performance AC servo system aims to make the
output track the reference value fast and precisely. The
tracing error is obtained by e

r
e u u = (5)
The principle of sliding mode control is to set a sliding
surface in advance in which the moving point is to make the
servo system stable, then adjust the input control parameter
according to the moving points position and speed to make
sure the moving point is on the sliding surface all the while
[4]
.
The switching surface for sliding-mode position control is
designed by tracing error and its derivative as
s ce e = + (6)
If the moving point is still on the sliding surface, then 0 s s = = .
(7) ( )
r
s ce e ce u u + = + =

0
If theres no change for system parameter or load
disturbance, from equation (4) and (7) the stable systems
ideal input is obtained by
1
(
r
u ce f
g
u
-
= +

) d (8)
According to equation (4), if system parameter J or B
changes, parameters , , f g d will change, and if theres load
disturbance, parameter will change. Then the ideal input
of equation (8) will make the moving point away from the
sliding surface, which will disable the servo system.
d
This paper proposes solutions as follows:
1. Make use of fuzzy controls expert experience (
fz
u ) to
approach ideal input ( ). u
-
2. Make use of adaptive control to attenuate chattering
caused by sliding mode control when theres much load
disturbance. The switch item should be
[5]
( )
vs
u K sign s = (9)
Where is the switch coefficient. K
The input of AFSMC is now given as:
(10) ( )
fz
u u K sign s = +
A. The Fuzzy Control System
Tracing error and its derivative e vary directly with e s .
Take s and s as inputs of fuzzy control system. Based on
an overall consideration of processing precision and
processing time, both input and output of fuzzy control are
divided into seven fuzzy subsets: NB(Negative Big),
NM((Negative Medium), NS((Negative Small), Z(Zero),
PS(Positive Small), PM(Positive Medium), PB(Positive Big).
The control rule is as follow
[6]
:
TABLE I. CONTROL RULE OF FUZZY CONTROL SYSTEM
s
s fz
u

Based on gravity model approach, the ambiguity resolution is
given by
'
( ) / ( )
fz
V V
u u u du u =
} }
du (11)
Where is output value in domain, and
'
u ( ) u is membership
function.
B. The Adaptive Control System
This paper introduces adaptive control method for K as
follow:
2
1
| |
2
K k s = (12)
Where is constant and , then . k 0 k > 0 K >
Set estimated value of K to be

K , then the estimated error

K K K A = . Define a Lyapunov function:

2
2
1
2 2
g K
V s
k
A
= + (13)
Where 0
n f
p
g
J

= > , then . 0 V >

From equation (4), (7) and (8)
*
( ) s g u u = (14)
Then
g K K
V ss
k
A A
= +

( )
( )
g K K K
sg u u
k
A
= +


|
*

[ ( )] ( s ) |
fz
g u u K sign s g K K s + =
*

( ) | | ( ) | |
fz
sg u u K s g K K s g = +
*

( ) | | 2 | |
fz
sg u u K s g K s g = +
96
Assign the fuzzy control approach error .
*
fz
u u =

| | 2 | | V sg K s g K s g = +

[ | | | | ( )] g s K s s K K = +
| | [ ( ) ] g s sign s K K = + A
Suppose ( ) K sign s K > + A
Then ( ) 0 sign s K K + A s
For g >0 and , then . | | 0 s > 0 V s

According to Lyapunov stability judgment, the servo

system will trend asymptotically stable if using adaptive
control method as equation (12).
IV. SIMULATION STUDY
Simulation model of AFSMC is built in Matlab/Simulink
according to Fig.1. Parameters are as follow:
TABLE II. PARAMETERS FOR SIMULATION
Parameter Value Parameter Value
n
P 201W
n
u 195V
s
R
27.15 d
L =
q
L 0.045H
f
0.162Wb
n
P 2
J 2.710
-5
kgm
2
B 0.027
c 250 k 2000
P
K for
ASR
G 0.035
i
K for
ASR
G 4.4
P
K for
ACR
G 20
i
K for
ACR
G 50
r
u 6
Output of is restricted between 2A, and output of
is restricted between 30V.
ASR
G
ACR
G
To validate the superiority of AFSMC compared with PI
controller, AFSMC and PI controller are respectively used for
position loops. Parameters of position loops for PI controller
are: K
p
=350, K
i
=0.3, and output is restricted between 90rpm
[7]
.
When no load disturbance is given, compared position curves
are given in Fig.2. The comparison indicates that tracking speed
and overshoot of AFSMC can be improved effectively.
0.08 0.085 0.09 0.095 0.1 0.105 0.11 0.115 0.12
5.9
5.92
5.94
5.96
5.98
6
6.02
6.04
6.06
6.08
time/s
p
o
s
i
t
i
o
n

PI

Fig.2 compared position curves
To validate AFSMCs anti-interference performance, keep
the systems parameters unchanged, and a load disturbance
of ( ) is given at the same time.
Position error curves of AFSMC and PI controller are shown
in Fig.3 and Fig.4 respectively. Error of AFSMC in Fig.3 is
about 0.01, while error of PI controller in Fig.4 is about 0.16.
The comparison indicates that AFSMC has better robustness
against load disturbance.
27 *
l
T N = m /
l
d T J = =

0 0.05 0.1 0.15 0.2 0.25 0.3

-0.2
-0.1
0
0.1
0.2
0.3
0.4
time/s
e
r
r
o
r
0.01

Fig.3 position error of AFSMC
0 0.05 0.1 0.15 0.2 0.25 0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
time/s
e
r
r
o
r
0.16

Fig.4 position error of PI controller
V. EXPERIMENT STUDY
Experimental system based on Freescale DSP56F8357 is
shown in Fig.5.

Fig.5 The servo systems experiment platform
The detecting and driving circuit is also included in the
system, in which the three-phase voltage inverter is composed
97
of an intelligence power model (IR2110) with a switching
frequency of 16 kHz. The PMSM used in experiment is made by
PHASE Corporation. Two hall current sensors and one hall
voltage sensor are included to test two phase currents and DC
bus voltage. PMSM parameters are the same with simulation.
The algorithm is accomplished in an integrated development
environment, namely Codewarrior, which can record the results
by its own observer named PC Master. The records
x-coordinate denotes numbers of pulses got from quadrature
encoder of PMSM, and y-coordinate denotes the time PC
Master runs at.
There are 4096 pulses every circle for the quadrature
encoder. If the reference position is assigned to 50 circles,
the quadrature encoder will get 204800 pulses. When no load
disturbance is given, errors of AFSMC and PI controller are
both about 50 pulses as shown in Fig.6 and Fig.7.

Fig.6 position of AFSMC

Fig.7 position of PI controller
To validate AFSMCs anti-interference performance, keep
parameters unchanged, and the same load disturbance is
given by weighing weights at some time. The compared
position error curves are shown in Fig.8 and Fig.9. Position
variation range of AFSMC is about (204800, 205200), while
position variation range of PI controller is about (203500,
205800). The experiment study validates AFSMCs better
robustness against load disturbance.

Fig.8 position of AFSMC

Fig.9 position of PI controller
VI. CONCLUSIONS
This paper presents an AFSMC for PMSM servo systems
nonlinearity and uncertainty which is applied to the PMSM
servo systems position control. The validity and feasibilities of
this method are proved by simulation results in Matlab/Simulink
as well as experiment results on Freescale DSP56F8357. The
comparison of PI controller and AFSMC indicates that
AFSMCs overshoot is improved and has better stability for
load disturbance.
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