Nonsingular Terminal Sliding Mode Control of PMSM Based on Improved Exponential Reaching Law

When a permanent magnet synchronous motor runs at low speed, the inverter will output discontinuous current and generate torque ripple; when is high large amount of stator harmonic generates, which affects its speed following ability stability. To ensure fast smooth switching in full domain, this paper proposes nonsingular terminal sliding mode control PMSM based on improved exponential reaching law. Firstly, law composed state variables power terms surface functions. The function designed sections to balance dynamic response system chattering control. Secondly, an strategy loop proposed. By designing initial value integral term function, located surface. used reduce steady-state error, while proposed increase arrival suppress chattering, ultimately affecting modeling error problems, complex working conditions, uncertainty factors. This observer compensate for disturbances. Lyapunov stability theory can prove that make tracking converge zero finite time. Hardware-in-the-loop experiments were validate effectiveness method.