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Journal of Sensors
Volume 2016, Article ID 8567429, 10 pages
Research Article

Sliding Mode Control for Bearingless Induction Motor Based on a Novel Load Torque Observer

1School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China
2Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China

Received 11 June 2016; Revised 26 August 2016; Accepted 6 September 2016

Academic Editor: Rafael Morales

Copyright © 2016 Zebin Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


For the problem of low control performance of Bearingless Induction Motor (BIM) control system in the presence of large load disturbance, a novel load torque sliding mode observer is proposed on the basis of establishing sliding mode speed control system. The load observer chooses the speed and load torque of the BIM control system as the observed objects, uses the speed error to design the integral sliding mode surface, and adds the low-pass filter to reduce the torque observation error. Meanwhile, the output of the load torque is used as the feedforward compensation for the control system, which can provide the required current for load changes and reduce the adverse influence of disturbance on system performance. Besides, considering that the load changes lead to the varying rotational inertia, the integral identification method is adopted to identify the rotational inertia of BIM, and the rotational inertia can be updated to the load observer in real time. The simulation and experiment results all show that the proposed method can track load torque accurately, improve the ability to resist disturbances, and ameliorate the operation quality of BIM control system. The chattering of sliding mode also is suppressed effectively.