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<p>This paper addresses the speed fluctuation issues in permanent magnet synchronous motors (PMSMs) caused by complex multi-source disturbances during low-speed operation. To enhance disturbance rejection and tracking precision, an innovative hybrid control strategy integrating Cascaded Nonlinear Active Disturbance Rejection Control (CNLADRC) with Fixed-Time Integral Terminal Adaptive Sliding Mode Control (FITASMC) is proposed. The specific contributions and methodology are threefold: (1) A Cascaded Nonlinear Extended State Observer (CNLESO) is constructed, which processes disturbances hierarchically through a cascaded structure to realize refined distinction and compensation for high-frequency internal disturbances (e.g., inverter dead-time) and low-frequency external load disturbances, thus significantly improving the system’s observation accuracy and compensation pertinence for complex interferences. (2) An improved FITASMC law with a synergistic coupling mechanism is designed to replace the traditional Nonlinear State Error Feedback (NLSEF) module. Leveraging the sliding mode surface’s inherent insensitivity to disturbances boosts system robustness further; meanwhile, assigning the main disturbance rejection task to CNLADRC greatly reduces the sliding mode switching gain, mitigating chattering. Additionally, an adaptive exponent mechanism in the sliding mode surface, dynamically tuned by error amplitude, eliminates the origin gain singularity, suppresses noise-induced chattering, and ensures robust fixed-time system convergence. (3) Rigorous Lyapunov analysis proves the fixed-time stability of the closed-loop system. Comparative simulations and experiments on a PMSM test bench verify the hierarchical effectiveness of CNLESO and its synergistic chattering suppression with FITASMC. The proposed strategy outperforms PI and conventional ADRC methods in low-speed stability and robustness under variance noise and dead-time effects.</p>

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Integration of Cascaded Nonlinear Active Disturbance Rejection Control and Fixed-Time Integral Terminal Adaptive Sliding Mode Control for Low-Speed PMSM

  • 期刊论文

  • 发表日期：

    2026年7月8日

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  • Wenfu Yang,
  • Bitao Zhang

摘要

This paper addresses the speed fluctuation issues in permanent magnet synchronous motors (PMSMs) caused by complex multi-source disturbances during low-speed operation. To enhance disturbance rejection and tracking precision, an innovative hybrid control strategy integrating Cascaded Nonlinear Active Disturbance Rejection Control (CNLADRC) with Fixed-Time Integral Terminal Adaptive Sliding Mode Control (FITASMC) is proposed. The specific contributions and methodology are threefold: (1) A Cascaded Nonlinear Extended State Observer (CNLESO) is constructed, which processes disturbances hierarchically through a cascaded structure to realize refined distinction and compensation for high-frequency internal disturbances (e.g., inverter dead-time) and low-frequency external load disturbances, thus significantly improving the system’s observation accuracy and compensation pertinence for complex interferences. (2) An improved FITASMC law with a synergistic coupling mechanism is designed to replace the traditional Nonlinear State Error Feedback (NLSEF) module. Leveraging the sliding mode surface’s inherent insensitivity to disturbances boosts system robustness further; meanwhile, assigning the main disturbance rejection task to CNLADRC greatly reduces the sliding mode switching gain, mitigating chattering. Additionally, an adaptive exponent mechanism in the sliding mode surface, dynamically tuned by error amplitude, eliminates the origin gain singularity, suppresses noise-induced chattering, and ensures robust fixed-time system convergence. (3) Rigorous Lyapunov analysis proves the fixed-time stability of the closed-loop system. Comparative simulations and experiments on a PMSM test bench verify the hierarchical effectiveness of CNLESO and its synergistic chattering suppression with FITASMC. The proposed strategy outperforms PI and conventional ADRC methods in low-speed stability and robustness under variance noise and dead-time effects.