LAUSR

A new adaptive saturation Integral Sliding Mode Controller (ADSA-ISMC) was presented to solve the speed fluctuation problem caused by a small brushless DC motor (S-BLDC) under variable loads. First, according to the characteristics of the S-BLDC and Kalman filter, a Kalman-based S-BLDC load disturbance observer was established, and an adaptive integrated sliding mode controller (AD-ISMC) was constructed based on the motor load obtained by the observer. Then, we introduce the saturation function into the input error link of the traditional integral sliding mode function, to propose a new ADSA-ISMC to improve the windup phenomenon produced by the integral sliding mode controller and prove the stability and convergence of the controller using the Lyapunov method. Finally, the experimental results show that the Kalman load disturbance observer can effectively observe the motor load disturbance. In addition, when the load of the S-BLDC changes, many speed control performance indexes of the ADSA-ISMC are significantly better than those of the SMC and AD-ISMC. The theoretical analysis and experimental results show that the ADSA-ISMC proposed in this study exhibit excellent control performance in S-BLDC speed control.