Adaptive Quasi-Sliding Mode Control for Permanent Magnet DC Motor

Table 1

Parameters for simulation and experiment.

Parameter	Value
𝐸: Input voltage	40.035 V
𝑟𝑠: Internal resistance of the source and MOSFET	0.84 Ω
𝑉fd: Diode forward voltage	1.1 V
𝐿: Inductance	2.473 mH
𝑟𝐿: Internal resistance of the inductor	1.695 Ω
𝐶: Capacitance	46.27 μF
𝑅𝑎: Armature resistance	2.7289 Ω
𝐿𝑎: Armature inductance	1.17 mH
𝐵: Viscous friction coefficient	0.000138 N⋅m/rad/s
𝐽eq: Moment of inertia	0.000115 kg⋅m^2
𝑘𝑡: Motor torque constant	0.0663 N⋅m/A
𝑘𝑒: Voltage constant	0.0663 V/rad/s
𝑇fric: Friction torque	0.0284 N⋅m
𝑇𝐿: Load torque	Variable N⋅m
𝑊𝑚ref: Reference speed	400 rad/s
𝑁: FPIC control parameter	1 or 1.5
𝐹𝑐: Switching frequency	6 kHz
𝐹𝑠: Sampling frequency	6 kHz
1𝑇_𝑝: 1 Delay time	166.6 μs
𝐾𝑆1,𝐾𝑆2: Control parameters	Equal to 2
𝐾𝑆3: Bifurcation parameters	Variable