LAUSR

Improving the positioning response is one of the key goals for permanent magnet synchronous motor position servo systems. The sliding mode variable structure controller (SMVSC) is an effective method due to the advantages of strong robustness, fast response, and easy practical implementation. However, the existing SMVSCs have difficulties in optimizing the position tracking response speed and chattering performance at the same time. This article proposes an improved position speed integrated SMVSC (ISMVSC) with a new variable exponential reaching law based on position error and a saturation function, and a speed-limiting method using speed error and trajectory planning. The general design principle is given and various tests are carried out to verify the effectiveness of the proposed method. The experimental results show that compared with traditional methods, the ISMVSC can improve the positioning response speed and reduce chattering problems at the same time; it also exhibits a stronger transient speed-limiting ability. All these advantages make the proposed controller a superior method to achieve high-response positioning control of the servo system that performs point-to-point motion.