A Sliding Mode Control Method for PMSM in Multi-speed Operation of Spiral Powder Filling Machines

JIN Aijuan; YU Jiyuan; LI Shaolong

doi:10.19554/j.cnki.1001-3563.2026.17.022

PDF(1538 KB)

Packaging Engineering ›› 2026, Vol. 47 ›› Issue (17) : 212-222. DOI: 10.19554/j.cnki.1001-3563.2026.17.022

Automatic and Intelligent Technology

A Sliding Mode Control Method for PMSM in Multi-speed Operation of Spiral Powder Filling Machines

JIN Aijuan, YU Jiyuan^*, LI Shaolong

Author information +

History +

Abstract

To meet the rapid switching requirements of spiral powder filling machines under "multi-speed operation" conditions, the work aims to enhance dynamic response and anti-disturbance capability of Permanent Magnet Synchronous Motors (PMSMs), thus improving packaging efficiency. A composite control strategy was proposed based on a novel exponential reaching law and a non-singular fast terminal sliding mode load observer. Firstly, a novel reaching law with a variable-speed power term was designed to accelerate the reaching speed and suppress system chattering. Secondly, an improved non-singular fast terminal sliding mode observer was constructed to realize real-time estimation and feed-forward compensation for load disturbances induced by material variations. Simulation results demonstrated that the proposed strategy outperformed traditional methods in loaded start-up and multi-speed tracking scenarios. In particular, during the simulated gear-shifting phase, the adjustment time was significantly reduced, and the speed overshoot was less than 0.5%. This strategy features fast convergence and strong robustness. It well balances chattering suppression and response speed, significantly improves the speed-tracking accuracy under complex operating conditions, and provides a feasible approach for the collaborative optimization of filling rhythm and precision.

Key words

permanent magnet synchronous motor / sliding mode control / reaching law / disturbance observer / spiral powder filling machine

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

JIN Aijuan, YU Jiyuan, LI Shaolong. A Sliding Mode Control Method for PMSM in Multi-speed Operation of Spiral Powder Filling Machines[J]. Packaging Engineering. 2026, 47(17): 212-222 https://doi.org/10.19554/j.cnki.1001-3563.2026.17.022

References

[1] ZHU S D, ZHAO W X, JI J, LIU G H, et al.Generation Mechanism and Suppression Measure of Electromagnetic Vibration in Permanent Magnet Synchronous Machine: A Review[J]. IEEE Transactions on Transportation Electrification, 2024, 10(4): 9513-9528.
[2] 徐勇军, 曾德灿. 基于多状态空间建模Mamba的电机故障诊断方法[J]. 包装工程, 2025, 46(15): 269-276.
XU Y J, ZENG D C.A Motor Fault Diagnosis Method Based on Multi-State Space Modeling Mamba[J]. Packaging Engineering, 2025, 46(15): 269-276.
[3] ZHANG J Y, REN W, SUN X M.Current-Constrained Adaptive Robust Control for Uncertain PMSM Drive Systems: Theory and Experimentation[J]. IEEE Transactions on Transportation Electrification, 2023, 9(3): 4158-4169.
[4] ANBALAGAN I G, SENTHILNATHAN A.Comprehensive Review on Intelligent Controller for Permanent Magnet Synchronous Motor[J]. Journal of Electrical Systems, 2025, 21(1): 321-328.
[5] YANG C B, LIU W, NIU S Y, et al.Parameter-Tuning-Free Two-Step Identification of Mechanical Parameters for PMSM Drives[J]. IEEE Transactions on Industrial Electronics, 2025, 72(12): 12378-12392.
[6] LIU J L, LI M Q, XIE E.Noncascade Structure Equivalent SMC for PMSM Driving Based on Improved ESO[J]. IEEE Transactions on Power Electronics, 2025, 40(1): 611-624.
[7] LIANG T H, LIU X D.Adaptive Predefined-Time Compound Sliding Mode Control Based on Fractional-Order Theory for PMSM[J]. IEEE Transactions on Transportation Electrification, 2025, 11(5): 10695-10704.
[8] LIU X, YANG H, LIN H Y, et al.A Novel Finite-Set Sliding-Mode Model-Free Predictive Current Control for PMSM Drives Without DC-Link Voltage Sensor[J]. IEEE Transactions on Power Electronics, 2024, 39(1): 320-331.
[9] 鲁广栋. 基于新型变指数趋近率的滑模控制策略研究[J]. 能源科技, 2025, 23(6): 47-52.
LU G D.Research on Sliding Mode Control Strategy Based on Novel Variable Exponential Approximation Rate[J]. Energy Science and Technology, 2025, 23(6): 47-52.
[10] XU Y F, ZHANG B, DENG Y T, et al.Robust Speed Control Strategy of PMSMs Using Improved Sliding-Mode Controller With New Reaching Law and Variable-Parameter Generalized Super-Twisting Observer[J]. IEEE Transactions on Power Electronics, 2025, 40(11): 16548-16559.
[11] ZHANG X G, SUN L Z, ZHAO K, et al.Nonlinear Speed Control for PMSM System Using Sliding-Mode Control and Disturbance Compensation Techniques[J]. IEEE Transactions on Power Electronics, 2013, 28(3): 1358-1365.
[12] 张会林, 王帅, 张建平. 基于双模态有限时间滑模的永磁同步电机抗扰动控制[J]. 包装工程, 2024, 45(5): 188-196.
ZHANG H L, WANG S, ZHANG J P.Anti-Disturbance Control of Permanent Magnet Synchronous Motor Based on Dual-Mode Finite-Time Sliding Mode[J]. Packaging Engineering. 2024, 45(5): 188-196.
[13] ZHANG D D, ZHANG H Q, LI X, et al.A PMSM Control System for Electric Vehicle Using Improved Exponential Reaching Law and Proportional Resonance Theory[J]. IEEE Transactions on Vehicular Technology, 2023, 72(7): 8566-8578.
[14] GAO W B.Theory and Design Method for Variable Sliding Mode Control[M]. Beijing: Science, 1996: 241-254.
[15] LI K, DING J.Sliding Mode Control Strategies Based on PMSM[J]. IEEE Access, 2024(12): 71685-71704.
[16] CHE Z, YU H, MOBAYEN S, et al.An Improved Non-cascade Adaptive Integral Sliding Mode Control for PMSM Servo Systems[J]. Circuits, Systems, and Signal Processing, 2023, 43(3): 1429-1451.
[17] 刘京, 李洪文, 邓永停. 基于新型趋近律和扰动观测器的永磁同步电机滑模控制[J]. 工程科学学报, 2017, 39(6): 933-944.
LIU J, LI H W, DENG Y T.Sliding Mode Control of Permanent Magnet Synchronous Motors Based on Novel Approximation Law and Disturbance Observer[J]. Journal of Engineering Science, 2017, 39(6): 933-944.
[18] 陈瑛, 刘军, 姚仲安. 基于扰动观测器和新型非奇异快速终端的PMSM滑模控制[J]. 组合机床与自动化加工技术, 2022(3): 84-87.
CHEN Y, LIU J, YAO Z A.Sliding Mode Control of Permanent Magnet Synchronous Motors Based on Disturbance Observer and Novel Non-Singular Fast Terminal[J]. Combination Machine Tools and Automated Machining Technology, 2022(3): 84-87.
[19] 袁雷, 胡冰新, 魏克银, 等. 现代永磁同步电机控制原理及MATLAB仿真[M]. 北京: 北京航空航天大学出版社, 2016: 3.
YUAN L, HU B X, WEI K Y, et al.Principles of Modern Permanent Magnet Synchronous Motor Control and MATLAB Simulation[M]. Beijing: Beijing University of Aeronautics and Astronautics Press, 2016: 3.