In existing sliding mode control (SMC) methods, a disturbance observer (DOB) is employed to achieve disturbance rejection and reduce chattering, which is a major disadvantage associated with SMC and increases with increasing switching gain. However, the disturbance in a DOB associated with SMC is typically estimated using a control input that exhibits chattering. Although the existing methods can reduce chattering using SMCs with DOBs, the estimated disturbance comprises undesirable high-frequency components caused by the control input. In this article, a chattering attenuation disturbance observer (CADOB) is proposed to achieve chattering reduction in the SMC. A frequency spectrum analysis is performed for the control input, estimated disturbance, and controlled state to elucidate the effect of chattering in the control input on the estimated disturbance and controlled state obtained using existing methods. The proposed CADOB is designed to estimate the disturbance with a reduction in undesirable high-frequency components. The frequency response results demonstrate that the effect of chattering in the control input on the estimated disturbance can be reduced by using CADOB, while maintaining the disturbance estimation performance. Moreover, the performance of the CADOB is experimentally validated using SMC in permanent-magnet synchronous motors.

中文翻译：

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用于滑模控制的抖动衰减扰动观测器：在永磁同步电机中的应用

在现有的滑模控制 (SMC) 方法中，采用干扰观测器 (DOB) 来实现干扰抑制和减少抖动，这是与 SMC 相关的主要缺点，并且随着开关增益的增加而增加。然而，与 SMC 相关的 DOB 中的扰动通常使用表现出颤动的控制输入来估计。尽管现有方法可以使用带有 DOB 的 SMC 来减少颤振，但估计的干扰包括由控制输入引起的不需要的高频分量。在本文中，提出了一种颤振衰减扰动观测器 (CADOB) 来实现 SMC 中的颤振减少。对控制输入、估计干扰进行频谱分析，和受控状态，以阐明控制输入中的抖动对使用现有方法获得的估计扰动和受控状态的影响。拟议的 CADOB 旨在通过减少不需要的高频分量来估计干扰。频率响应结果表明，使用 CADOB 可以减少控制输入中的抖动对估计扰动的影响，同时保持扰动估计性能。此外，CADOB 的性能在永磁同步电机中使用 SMC 进行了实验验证。频率响应结果表明，使用 CADOB 可以减少控制输入中的抖动对估计扰动的影响，同时保持扰动估计性能。此外，CADOB 的性能在永磁同步电机中使用 SMC 进行了实验验证。频率响应结果表明，使用 CADOB 可以减少控制输入中的抖动对估计扰动的影响，同时保持扰动估计性能。此外，CADOB 的性能在永磁同步电机中使用 SMC 进行了实验验证。