{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,7]],"date-time":"2026-01-07T07:53:54Z","timestamp":1767772434237,"version":"build-2065373602"},"reference-count":28,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2020,3,10]],"date-time":"2020-03-10T00:00:00Z","timestamp":1583798400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Due to the process defects and imperfection of drivers, permanent magnet synchronous motors (PMSM) are problematic to control. There is still a lack of effective high-performance control methods for inertial stabilized platforms based on PMSM currently. At present, the most frequently used method is sliding mode control (SMC), but traditional sliding mode control cannot overcome the contradiction between high performance and system chattering. In order to solve this problem and improve the system reliability and pointing accuracy, a new approach law for the sliding mode controller is proposed in this paper. In view of the large periodic torque ripple in PMSM, an iterative learning controller (ILC) is introduced to compensate for the disturbance. Based on these, aimed at suppressing all kinds of real-time disturbances in the working environment of the system, the extended state observer (ESO) is brought into the servo system to observe the lumped disturbance of the system, and the total disturbance observed is compensated into the sliding mode controller, so as to better suppress the system chattering and enhance the system\u2019s ability of resisting external disturbance. Experiments are carried out on an inertial stabilization platform based on DSP + CPLD. The final experiments verify that the SMC with the new approach, combined with ILC and ESO, is of outstanding performance when compared with the traditional proportional integral (PI) + disturbance observer (DOB) control scheme.<\/jats:p>","DOI":"10.3390\/s20051526","type":"journal-article","created":{"date-parts":[[2020,3,10]],"date-time":"2020-03-10T11:59:36Z","timestamp":1583841576000},"page":"1526","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["High Precision Low-Speed Control for Permanent Magnet Synchronous Motor"],"prefix":"10.3390","volume":"20","author":[{"given":"Xianqi","family":"Xia","sequence":"first","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"},{"name":"University of Chinese Academy of Sciences, No.19, Yuquan Rd., Beijing 100049, China"}]},{"given":"Bao","family":"Zhang","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"}]},{"given":"Xiantao","family":"Li","sequence":"additional","affiliation":[{"name":"Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China"}]}],"member":"1968","published-online":{"date-parts":[[2020,3,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"321","DOI":"10.1109\/41.491356","article-title":"Pulsating torque minimization techniques for permanent magnet AC motor drives-a review","volume":"43","author":"Jahns","year":"1996","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2428","DOI":"10.3788\/OPE.20172509.2428","article-title":"Adaptive robust control over high-performance VCM-FSM","volume":"25","author":"Li","year":"2017","journal-title":"Opt. Precision Eng."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1109\/TEC.2010.2053374","article-title":"Torque Analysis in Permanent-Magnet Synchronous Motors: A Comparative Study","volume":"26","author":"Iraolagoitia","year":"2011","journal-title":"IEEE Trans. Energy Convers."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"407","DOI":"10.1109\/60.900501","article-title":"Influence of design parameters on cogging torque in permanent magnet machines","volume":"15","author":"Zhu","year":"2000","journal-title":"IEEE Trans. Energy Convers."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1109\/MIAS.2013.2288383","article-title":"Suppressing Pulsating Torques: Torque Ripple Control for Synchronous Motors","volume":"20","author":"Nakao","year":"2014","journal-title":"IEEE Ind. Appl. Mag."},{"key":"ref_6","first-page":"1889","article-title":"On-line self-tuning of pi controller for pmsm drives based on the iterative learning control","volume":"3","author":"Ming","year":"2005","journal-title":"Electri. Mach. Control"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"526","DOI":"10.1109\/TIE.2004.825365","article-title":"A modular control scheme for PMSM speed control with pulsating torque minimization","volume":"51","author":"Xu","year":"2004","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"2645","DOI":"10.3788\/OPE.20172510.2645","article-title":"Torque ripple minimization of PMSM based on robust iterative learning control","volume":"25","author":"Liu","year":"2017","journal-title":"Opt. Precision Eng."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"594","DOI":"10.1109\/TIA.2008.916730","article-title":"Correction on Current Measurement Errors for Accurate Flux Estimation of AC Drives at Low Stator Frequency","volume":"44","author":"Cho","year":"2008","journal-title":"IEEE Trans. Ind. Appl."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1609","DOI":"10.1109\/TIE.2009.2033098","article-title":"Effective Dead-Time Compensation Using a Simple Vectorial Disturbance Estimator in PMSM Drives","volume":"57","author":"Kim","year":"2010","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Song, X., Wen, X., Guo, X., and Zhao, F. (2009, January 15\u201318). Dead-time compensation of SVPWM based on DSP TMS320F2812 for PMSM. Proceedings of the International Conference on Electrical Machines & Systems, Tower Hall Funabori, Tokyo, Japan.","DOI":"10.1109\/ICEMS.2009.5382971"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Yan, Y., Li, W., Deng, W., Zhang, G., and Xia, C. (November, January 29). Torque ripple minimization of PMSM using PI type iterative learning control. Proceedings of the IECON 2014\u201440th Annual Conference of the IEEE Industrial Electronics Society, Dallas, TX, USA.","DOI":"10.1109\/IECON.2014.7048612"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"3831","DOI":"10.3390\/s130303831","article-title":"A New Adaptive Self-Tuning Fourier Coefficients Algorithm for Periodic Torque Ripple Minimization in Permanent Magnet Synchronous Motors (PMSM)","volume":"13","year":"2013","journal-title":"Sensors"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1879","DOI":"10.1109\/TII.2012.2226896","article-title":"Design and Implementation of Terminal Sliding Mode Control Method for PMSM Speed Regulation System","volume":"9","author":"Li","year":"2013","journal-title":"IEEE Trans. Ind. Inf."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1280","DOI":"10.1016\/j.phpro.2012.05.211","article-title":"Simulation and Research of Control-System for PMSM Based on Sliding Mode Control","volume":"33","author":"Lv","year":"2012","journal-title":"Physics Procedia"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1358","DOI":"10.1109\/TPEL.2012.2206610","article-title":"Nonlinear Speed Control for PMSM System Using Sliding-Mode Control and Disturbance Compensation Techniques","volume":"28","author":"Zhang","year":"2013","journal-title":"IEEE Trans. Power Electron."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1109\/TIE.2009.2034285","article-title":"Fuzzy logic and sliding- mode controls applied to six-phase induction machine with open phases","volume":"57","author":"Fnaiech","year":"2010","journal-title":"IEEE Trans. Ind Electron."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1083","DOI":"10.1109\/TIE.2015.2478397","article-title":"Disturbance Observer-Based Control and Related Methods: An Overview","volume":"63","author":"Chen","year":"2015","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1171","DOI":"10.1109\/TIE.2011.2162217","article-title":"Speed Control for PMSM Servo System Using Predictive Functional Control and Extended State Observer","volume":"59","author":"Liu","year":"2012","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"9267","DOI":"10.1109\/TPEL.2017.2654540","article-title":"Flux Immunity Robust Predictive Current Control With Incremental Model and Extended State Observer for PMSM Drive","volume":"32","author":"Yang","year":"2017","journal-title":"IEEE Trans. Power Electron."},{"key":"ref_21","first-page":"84","article-title":"Robust controller design for PMSM speed servo systems","volume":"29","author":"Yang","year":"2009","journal-title":"Proc. CSEE"},{"key":"ref_22","unstructured":"Xu, J.X., Wang, X.W., and Heng, L.T. (1995, January 21\u201323). Analysis of contious iterative learning control systems using current cycle feedbak. Proceedings of the American Control Conferences, Washinton, DC, USA."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"11027","DOI":"10.3390\/s150511027","article-title":"Current Sensor Fault Diagnosis Based on a Sliding Mode Observer for PMSM Driven Systems","volume":"15","author":"Huang","year":"2015","journal-title":"Sensors"},{"key":"ref_24","unstructured":"Utkin, V., and Shi, J. (1996, January 13). Integral sliding mode in systems operating under uncertainty conditions. Proceedings of the 35th IEEE Conference on Decision & Control, Kobe, Japan."},{"key":"ref_25","first-page":"80","article-title":"Sliding Mode Control of PMSM Based on a Novel Disturbance Observer","volume":"30","author":"Liu","year":"2010","journal-title":"Proc. Chin. Soc. Electr. Eng."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"900","DOI":"10.1109\/TIE.2008.2011621","article-title":"From PID to Active Disturbance Rejection Control","volume":"56","author":"Han","year":"2009","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_27","first-page":"85","article-title":"Extended State Observer for a Class of Uncertain Objects","volume":"1","author":"Han","year":"1995","journal-title":"Control. Decision"},{"key":"ref_28","unstructured":"Gao, Z. (2003, January 4\u20136). Scaling and Parameterization Based Controller Tuning. Proceedings of the American Control Conference, Denver, CO, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/5\/1526\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T09:05:44Z","timestamp":1760173544000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/5\/1526"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,3,10]]},"references-count":28,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2020,3]]}},"alternative-id":["s20051526"],"URL":"https:\/\/doi.org\/10.3390\/s20051526","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2020,3,10]]}}}