Fast Convergent Stability Sliding Mode Control for Slotless Self Bearing Motor with Consideration of External Load Torque

This paper presents a fast-reaching law of sliding mode control for the slotless self-bearing motor (SSBM) with fully embedded of the load torque on the speed axis. This is a new consideration of the disturbance on the speed control axis in compare with the previous works. Furthermore, the uncertain values of the fabrication, winding process, and modeling are all matched with the control input channel, which are rejected by the robust control method. To obtain the gold of expectations with robustness, the mathematical model of SSBM is firstly given with an explanation of sources of the uncertainties. Second, the exponential reaching law sliding mode control (ERL-SMC) is employed to design the controller of all positions and speed axes, respectively. Third, the stability analysis is given to show the correction of the designed controllers. Fourth, the simulation by using MATLAB software and experimental by using laboratory motor prototype were used to show the effectiveness of the designed control method. The obtained results show that the settling times are small, the steady-states are stable with uncertainties and external load torque.