To suppress chattering and enhance the speed control performance of permanent magnet syn-chronous motors ( PMSMs)

a novel speed sliding mode control method based on a barrier function with variable damping performance enhancement was proposed. First of all

a non-cascade speed-current inte-gration single-loop control architecture was designed. In this architecture

the controller was directly de-signed using the measurable speed and current

and no observer was needed to estimate the angular ac-celeration. Secondly

the gain of the sign switching function can be adjusted adaptively by introducing the barrier function

which not only greatly weakens the chattering

but also solves the problem that the cur- rent cannot be automatically limited. In addition

the integral damping variable function was innovatively designed in the sliding mode surface design

which effectively improves the transient control performance of the speed. At the same time

the integral term makes the system dynamic only in the sliding stage

greatly simplifying the design complexity of the controller and the adaptive law. In order to further en-hance the robustness

a filter disturbance estimator was designed to estimate and compensate the matched and unmatched disturbances in PMSM simultaneously. Finally

the proposed control method is verified by practical experiments

and the experimental results show that the control method can effectively reduce chattering and enhance the speed control performance of PMSM.