Non-singular fast terminal sliding mode control of permanent magnet synchronous motor for automatic guided vehicle based on disturbance compensation

Abstract

In the smart factory, the loading and unloading of goods by automatic guided vehicle in the driving state will cause speed fluctuations. To this problem, this article takes the permanent magnet synchronous motor of automatic guided vehicle as the research object and studies the motor speed control of automatic guided vehicle when the load changes. This article presents a non-singular fast terminal sliding mode control strategy for permanent magnet synchronous motor based on disturbance feed-forward compensation. In order to solve the problem of chattering and slow reaching the speed of sliding mode control, this article designs an adaptive exponential reaching law, which can not only suppress sliding mode chattering but also adjust the reaching speed adaptively according to the system state. In order to solve the problem of external load disturbance, this article designs a sliding mode disturbance observer, which suppresses the influence of load disturbance on speed by compensating the observed values feed-forward into the current loop. Compared with proportional–integral and sliding mode control, the control strategy adopted in this article reduces the speed fluctuation by 3.12% and 2.00%, and the response time is reduced by 67.9% and 33.3%, respectively—finally, the load mutation experiments of automatic guided vehicle with permanent magnet synchronous motor as the driving motor is carried out. The experimental results further verify the effectiveness of the control strategy. Simulation and experimental results show that the proposed control strategy has better anti-interference ability and faster response speed.