Global Sliding Mode Control for Permanent Magnet Synchronous Motor Servo System

In order to reduce the number of sliding in position servo control,the speed wave is designed in the exponential type instead of the trapezoid type.Meanwhile,the speed and position control with four sliding mode have been replaced by the two sliding mode control.By Introduction of a new global sliding mode and variable exponentially reaching rate,the complexity of the design could be reduced,the robustness of the system would be improved for the eliminated buffeting.By using the linear design and integral measures,precise position control and speed control would be achieved because of the zero steady-state error.Simulation and experiments show that this scheme is with strong robustness,good static,dynamic characteristics and significantly decreasing buffeting.So the design of sliding mode control scheme is feasible and superior.