In this paper, a disturbance observer-based complementary fractional-order sliding mode control (CFOSMC) scheme is proposed for the permanent magnet synchronous motor (PMSM) drive system. First, to reconstruct the load disturbance and parameter variations, a nonlinear disturbance observer is designed. Next, a disturbance observer-based fractional-order sliding mode with a saturation function control law is designed to reduce the chattering problem in the existing fractional-order sliding mode control (FOSMC) method. Furthermore, to reduce the thickness of the boundary layer, a CFOSMC scheme is designed. By using the fractional-order Lyapunov stability theorem, the existence condition and the chattering problem are analyzed. Compared with the existing FOSMC, the obtained CFOSMC law does not contain any high-order derivatives of tracking error, which is easier to implement. Finally, the numerical simulations and experimental results are provided to show the superiority of the proposed method. To improve the performance of the permanent magnet synchronous motor (PMSM) drive system in terms of tracking rapidity, accuracy, and robustness, a complementary fractional-order sliding mode control (CFOSMC) scheme with disturbance observer is proposed in this paper.

中文翻译：

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基于干扰观测器的PMSM驱动系统的分数阶滑模互补控制

本文针对永磁同步电机（PMSM）驱动系统，提出了一种基于干扰观测器的互补分数阶滑模控制（CFOSMC）方案。首先，为了重建负载扰动和参数变化，设计了一个非线性扰动观测器。接下来，设计具有饱和函数控制律的基于扰动观测器的分数阶滑模，以减少现有分数阶滑模控制（FOSMC）方法中的颤动问题。此外，为了减小边界层的厚度，设计了CFOSMC方案。利用分数阶李雅普诺夫稳定性定理，分析了存在条件和颤振问题。与现有的FOSMC相比，所获得的CFOSMC定律不包含任何跟踪误差的高阶导数，这更容易实现。最后，通过数值模拟和实验结果证明了该方法的优越性。为了提高永磁同步电动机（PMSM）驱动系统在跟踪速度，准确性和鲁棒性方面的性能，提出了一种带有扰动观测器的互补分数阶滑模控制（CFOSMC）方案。