Sliding mode control of an outer-rotor magnetic-gear-integrated motor with a Halbach array

In this paper, the magnetic-gear-integrated motor with a Halbach array is analyzed. The combination of coaxial magnetic gear and permanent magnet synchronous motor (PMSM) replaces the role of mechanical gear in transmission structure and realizes the transmission characteristics of low-speed and high torque. Halbach permanent magnet array has the effect of good unilateral magnetic shielding, which can make the waveform closer to the sine wave. Aiming at the problem that the position sensor limits the control accuracy during the operation of the motor, founded on the analysis of the mathematical model of the magnetic-gear-integrated motor, an improved sliding mode observer is proposed. Also, the sliding mode controller (SMC) replaces the PI regulation in the speed loop to increase the robustness of the system. Lyapunov is utilized to prove the stability of the system, and the simulation is built in MATLAB/ Simulink. A 3.6 kW prototype is manufactured and tested. The feasibility of the sensorless-driven system is proven by simulation and experiments. •An improved sliding mode controller suitable for a magnetic gear motor is proposed.•The mathematical model of a magnetic gear motor.