A model reference adaptive sliding mode control for the position control of the permanent magnet synchronous motor is developed in this article. First of all, a fast sliding surface is designed to achieve faster convergence than the ordinary sliding mode control. Then, the adaptive laws are developed to make the control parameters, especially the switching gain, updated online. Therefore, the chattering can be reduced effectively and the disturbance can be rejected well. Finally, a reference model which produces an exponential decay curve is applied for the position error to follow. Thus, not only fast error convergence can be guaranteed, but also the dynamic process of the system response can be controlled easily by modifying the decay rate of the reference model. The proposed model reference adaptive sliding mode control scheme combines the advantages of the sliding mode control and the model reference adaptive control. Simulation and experimental results reveal that faster and more accurate performance with smoother control signal and better robustness is obtained compared with other methods. Also, the model reference adaptive sliding mode control method can maintain good performance when the system inertia or the position reference varies in a wide range.
DESIGN OF A MODEL REFERENCE ADAPTIVE PID CONTROLLER FOR DC MOTOR POSITION CONTROL: COMPARED WITH PID AND FUZZY CONTROLLERS