Design of global sliding-mode controlled AC servo controller based on exponential acceleration/deceleration algorithm

A global sliding-mode controller is developed for position and velocity control of AC servo system based on exponential acceleration/deceleration algorithm. The problem of position and velocity control in the system is analyzed first. On this foundation the exponential acceleration/deceleration algorithm is used to plan the velocity profile. At the same time, the time-varying sliding surface and equivalent control law are especially designed, which realizes the global sliding mode control during position, including acceleration, constant, deceleration, and positioning at low speed stages. The permanent magnet synchronous motor (PMSM) AC servo controller platform is built finally and the experiment is implemented. The experimental results demonstrate the feasibility and effectiveness of the proposed control scheme. The application experiment also proved the controller is more easy to realize and with universal performance.