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This paper proposes a nonlinear disturbance observer (NDO)-based sliding mode speed controller (SMSC) to guarantee the superior control performance in terms of robustness, fast transient response, and small steady-state error for a surface-mounted permanent magnet synchronous motor (SPMSM) drive. Generally, the control performance of the SPMSM drives can be degraded by disturbances, so an NDO with a proper disturbance rejection capability is proposed to appropriately improve the tracking performance of the SMSC designed for the SPMSM drives. Unlike the linear disturbance observers (LDOs), the proposed NDO can efficiently estimate the lumped disturbance such as uncertainties parameters and unmodeled dynamics by using the nonlinear design function. The proposed NDO rejects the complex disturbances as well as self-regulates the observer gains to increase the convergence rate. The feasibility of the proposed NDO-based SMSC is verified by using a MATLAB/Simulink software program and a prototype SPMSM drive system with a TI TMS320F28335 digital signal processor (DSP). The comparative results with a conventional LDO-based SMSC are analyzed under load torque disturbances and model uncertainties to prove the excellent performance of the proposed NDO-based SMSC.

Disturbance Attenuation for Surface-Mounted PMSM Drives Using Nonlinear Disturbance Observer-Based Sliding Mode Control