Engineering Science and Technology, an International Journal 20 (2017) 896–908

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Engineering Science and Technology,

an International Journal
journal homepage: www.elsevier.com/locate/jestch

Full Length Article

IPMSM velocity and current control using MTPA based adaptive

fractional order sliding mode controller
Sayed Hamed Hosseini, Mohammad Tabatabaei ⇑
Department of Electrical Engineering, Khomeinishahr Branch, Islamic Azad University, Isfahan, Iran

a r t i c l e i n f o a b s t r a c t

Article history: This paper presents a two-loop approach for velocity and stator currents control of an Interior-type
Received 29 October 2016 Permanent Magnet Synchronous Motor (IPMSM). In the outer loop, the reference torque obtained from
Revised 20 March 2017 a conventional PI controller gives two-axis stator reference currents based on Maximum-Torque per
Accepted 22 March 2017
Ampere (MTPA) strategy. In the inner loop, an adaptive fractional order sliding mode controller is
Available online 29 April 2017
designed to reach the two-axis stator currents to their reference values obtained from the MTPA method.
To achieve this idea, fractional order sliding surfaces and an adaptive controller with adjustable param-
Keywords:
eters are employed. The adaptive controller is designed to increase the robustness of the proposed
Fractional order sliding mode controller
(FO-SMC)
method against the uncertainties in stator resistance and inductances. A Lyapunov based adaptation
Interior-type permanent magnet mechanism is proposed for adjustment of the controller parameters. The optimal value of the fractional
synchronous motor (IPMSM) orders are obtained by optimization of an integral time absolute error performance index. The simulation
Adaptive control results show the robustness of the proposed method against the uncertainties in stator resistance and
stator inductances.
Ó 2017 Karabuk University. Publishing services by Elsevier B.V. This is an open access article under the CC
BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

1. Introduction an IPMSM based on fuzzy-approximation has been proposed.

High torque and power to current ratio, high efficiency and
robustness make extensive use of Interior-type Permanent magnet
synchronous motors (IPMSM) in industrial applications. Nonlinear
dynamic of IPMSM, the presence of electrical and mechanical
uncertainties and the external load disturbance leads to utilize
advanced newly methods in IPMSM control applications [1].
A variety of intelligent methods have been employed in this
area. In [2], a neural network based PI controller considering two
well-known control strategies (Maximum Torque per Ampere or
MTPA and Flux Weakening or FW) has been proposed for velocity
control of IPMSM. In [3], a neural network-based adaptive dynamic
surface controller for PMSM has been introduced. In [4], a dynamic
backpropagation neural network controller with the Levenburg-
Marquardt algorithm for speed control of IPMSM has been
presented. Moreover, Fuzzy logic controllers and genetic
algorithms have been employed in IPMSM drive applications, too
[5,6]. In [7], a discrete-time adaptive position tracking control for
⇑ Corresponding author at: Islamic Azad University, Khomeinishahr Branch,
Daneshjoo Boulvard, Manzarieh, Khomeinishahr, Isfahan, Iran.
E-mail addresses: hosseini.shmd@gmail.com (S.H. Hosseini), tabata-
baei@iaukhsh.ac.ir (M. Tabatabaei).
Peer review under responsibility of Karabuk University.
Moreover, a reduced-order observer-based adaptive fuzzy
tracking controller for chaotic PMSM drive system has been
presented [8].
Robust and adaptive nonlinear approaches have been utilized in
IPM motor control, too. Adaptive backstepping controller has been
used for IPMSM control [9,10]. In [11], a combination of MTPA
based integral backstepping controller and an adaptive high gain
observer have been employed for sensorless control of IPMSM.
An adaptive parameter estimator with MTPA strategy has been
proposed, too [12]. In [13], a Lyapunov-based adaptive controller
for position control of IPMSM has been presented. In [14], a novel
robust model reference adaptive system for speed estimation of an
IPMSM has been proposed. Moreover, a MTPA based adaptive
input-output state feedback linearization approach has been intro-
duced for sensorless IPMSM control [15].
Sliding mode controllers have been widely used for control of
interior permanent magnet synchronous motors. In [16], first, an
input-output linearization technique has been employed to lin-
earize the IPMSM model and then a chattering-free sliding mode
controller has been proposed to increase the robustness of the con-
troller against the modelling errors. A sensorless torque/flux slid-
ing mode controller has been presented for IPMSM [17]. A MTPA
based sliding mode controller with a sliding-mode observer for
rotor speed estimation has been presented [18]. In [19], a new

http://dx.doi.org/10.1016/j.jestch.2017.03.008
2215-0986/Ó 2017 Karabuk University. Publishing services by Elsevier B.V.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
 S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908
sliding mode observer has been designed for rotor speed estima-
tion of the IPMSM.
Utilizing non-integer derivatives and integrals in the controller
structure yields the so-called fractional order controllers that leads
to more flexibility and performance in the controller design proce-
dure [20,21]. Fractional order sliding mode controller with frac-
tional order sliding surface has been considered in the literature.
In [22], a fractional order adaptive sliding mode controller for
multi-input multi-output systems has been proposed. In [23], a
sliding mode controller with fractional order sliding surface has
been introduced in which the sign function has been replaced with
a fuzzy logic controller to decrease the chattering effect. The per-
formance of a fractional order sliding mode surface for robust con-
trol of Linear Time Invariant (LTI) systems subject to a wide range
of disturbances has been verified, too [24]. Fractional order sliding
mode controller has been used for control real plants. A fractional
order sliding mode controller has been implemented for a DC/DC
buck converter [25]. Fractional order sliding mode controllers for
speed control of PMSM have been utilized, too [26,27]. In [28], a
fractional order sliding mode controller has been presented for
position control of PMSM.
As far as we know, the fractional order sliding mode controller
hasn’t been employed to control IPMSM drive systems. This paper
employs this method to control IPMSM drive system. Considering
the reference speed, a PI controller is used to calculate the torque
reference that is utilized to obtain the two-axis stator reference
currents based on MTPA approach. A fractional order sliding mode
controller with a Lyapunov-based adaptation mechanism is
employed to reach the d-q stator currents to their corresponding
reference values. Employing fractional orders in the sliding sur-
faces will improve the transient response and robustness. Simula-
tion results show the effectiveness of the proposed method under
change in stator winding parameters such as resistance and
inductances.
The rest of this paper is organized as follows. The mathematical
model of IPMSM is given in Section 2. Section 3 presents some nec-
essary relations related to fractional calculus. Section 4 describes
the proposed control design method. The simulation results and
discussions are given in Section 5. Finally, section 6 concludes
the paper.
2. Mathematical model of IPMSM
The IPMSM model in the rotor rotating (d
q) reference frame
could be written as [29]
(
v d ¼ Rs id þ Ld didt
PLq xr iq
d trated in the forthcoming subsections.
v q ¼ Rs iq þ Lq didt þ PLd xr id þ Pxr km
q
where v d and v q , are the d and q axis stator voltages, id and iq are the
d and q axis stator currents, Rs is the stator resistance, Ld and Lq are
the d and q axis stator inductances, xr is the rotor angular velocity,
P is the number of pole pairs and km is the permanent magnet flux
linkage.
The electric torque (T e ) could be obtained in terms of the stator
currents as follows
T e ¼ 1:5Pðkm iq þ ðLd
Lq Þid iq Þ:
The following equation gives the relation between electric tor-
que and the rotor speed
T e ¼ Jx
_ r þ Bxr þ T L
where J and B are the moment of inertia and the viscous friction
coefficients, respectively. The load torque is represented with T L .
897
3. Main concepts in fractional calculus
Utilizing non-integer derivatives and integrals as a generaliza-
tion of their corresponding integer order operators is the basis of
the fractional calculus. This results in infinite-dimensional systems
that could describe real plants more precisely. Moreover, utilizing
the fractional order controllers with higher degrees of freedom
increases the system performance and flexibility comparing with
ordinary controllers. The Riemann-Liouville (R.L), the Grunwald-
Letnikov and the Caputo definitions are three popular definitions
that have been introduced for fractional order derivative in the lit-
erature. The fractional order derivative of a constant function isn’t
zero according to R.L definition. But, it is zero in accordance with
the Caputo definition. This is the reason why the Caputo definition
is mostly used in engineering applications. The fractional order
derivative of the function f ðtÞ in the sense of Caputo (0 Dat f ðtÞ)
(which is utilized in this paper) is defined as follows [20]
Z
ðsÞ
t ðnÞ
a 1 f
0 Dt f ðtÞ ¼ ds; ðn
1 6 a < nÞ; n 2 N
Cðn
aÞ 0 ðt
sÞaþ1
n
ð4Þ
where a is the fractional order derivative, n is an arbitrary integer
number, N is the set of natural numbers and Cð:Þ is the common
Gamma function defined as
Z 1
CðxÞ ¼ e
z zx
1 dz: ð5Þ
0
4. The proposed control approach
A two-loop controller is employed for velocity control of the
IPMSM based on the MTPA strategy. In the first step, the reference
torque is calculated through a conventional PI controller with
transfer function kp þ ksi . The PI controller parameters are tuned
with trial and error such that a good command following and good
load torque rejection capability will be obtained. In the second
step, the two-axis stator reference currents are determined
through a maximum torque per ampere strategy. Finally, the
two-axis stator reference voltages are calculated so that the differ-
ence between the two-axis stator currents and their reference val-
ues obtained from the MTPA block tend to zero. It is achieved using
an adaptive fractional order sliding mode control approach. Fig. 1
shows the overall control block diagram. It is obvious that the
inner loop (current loop) should be much faster than the outer loop
(speed loop). The details of the proposed control method are illus-
ð1Þ
4.1. Fundamentals of the MTPA approach
In the MTPA strategy, the two-axis stator reference currents are
calculated so that the maximum torque per ampere will be
achieved. This means that
T ref
max : : ð6Þ
isref
If the reference torque (T ref ) is assumed to be constant, then the
stator reference current (isref ) should be minimized. The stator ref-
ð2Þ
erence current could be calculated in terms of the two-axis stator
reference currents as follows
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 2
isref ¼ ids þ iqs ð7Þ
ð3Þ
where ids and iqs are the d and q axis stator reference currents,
respectively. These values are related to each other by the torque
Eq. (2). This means that
898 S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908

Fig. 1. The MTPA based IPMSM control block diagram.

 
1 2T ref where the fractional orders ad and aq belong to ð0; 1. Moreover, cd
ids ¼
km : ð8Þ
ðLd
Lq Þ 3Piqs and cq are arbitrary positive constants. ed and eq tend to zero
through the sliding surfaces (15). Increasing the value of cd and cq
Substituting (8) in (7), yields the stator reference current in
decreases the settling time of ed and eq , respectively. Now, the
terms of the q-axis stator reference current
two axis stator voltages (v d and v q ) should be appropriately calcu-
 2
2 1 2T ref 2 lated to drive the state trajectories to the sliding surfaces in (15) or
isref ¼ 2

km þ iqs : ð9Þ the following sliding surface reaching conditions should be satisfied
ðLd
Lq Þ 3Piqs
sd s_ d < 0; sq s_ q < 0: ð16Þ
To minimize the stator reference current, the following equa-
tion should be satisfied Theorem 1 gives the appropriate relations for vd and vq to
2 ensure the reaching conditions in (16).
@isref
¼ 0: ð10Þ
@iqs Theorem 1. If the following two axis stator voltages are considered,
Incorporating Eqs. (9) and (10) gives the following equation then the reaching conditions in (16) will be fulfilled
  dids
2 2T ref
2T ref v d ¼ Ld
PLq xr iq þ Rs id þ cd Ld D1
ad ed þ kd sgnðsd Þ: ð17Þ
2iqs þ
km ¼ 0: ð11Þ dt
ðLd
Lq Þ2 3Piqs 2
3Piqs
diqs
Simplifying (11) leads to the following fourth-order equation v q ¼ Lq þ PLd xr id þ Rs iq þ Pkm xr þ cq Lq D1
aq eq þ kq sgnðsq Þ:
dt
4 ð18Þ
9P2 ðLd
Lq Þ2 iqs þ 6PT ref km iqs
4T 2ref ¼ 0: ð12Þ
where kd and kq are arbitrary positive numbers and sgnð:Þ denotes the
Numerically solving Eq. (12) yields the q-axis stator reference sign function defined as
current. Notice that only real solutions giving minimum stator ref-
erence current are acceptable. Substituting the resultant q-axis sta- jxj
sgnðxÞ ¼ : ð19Þ
tor reference current in Eq. (8), gives the d-axis stator reference x
current.
Proof. according to (15), we have
4.2. Fractional order sliding mode controller design for IPMSM
(
s_ d ¼ e_ d þ cd D1
ad ed
In this subsection, the two-axis stator voltages are obtained : ð20Þ
s_ q ¼ e_ q þ cq D1
aq eq
according to a fractional- order sliding mode control approach.
Let us define the difference between the two axis stator currents Considering relations (14), (17) and (18), Eq. (20) could be sim-
and their corresponding reference values acquired from the MPTA plified as
method with ed and eq , respectively. i.e.
kd kq
ed ¼ ids
id ; eq ¼ iqs
iq : ð13Þ s_ d ¼
sgnðsd Þ; s_ q ¼
sgnðsq Þ: ð21Þ
Ld Lq
Incorporating Eqs. (1) and (13) yields According to relations (19) and (21), the left-side of inequalities
8   (16) could be written as
>
< e_ d ¼ Rs
e þ iLds þ didtds
L q xr iq
vL d
d PL
Ld

d

d

d
 : ð14Þ kd kq
> v sd s_ d ¼
jsd j; sq s_ q ¼
jsq j: ð22Þ
: e_ q ¼ Rs
e
Lq
q
þ
iqs
Lq
þ
diqs
dt
þ P x r
L d id
Lq
þ km
Lq

Lqq Ld Lq

To tend the two axis stator current errors to zero, the following It is obvious that the right-sides of expressions (22) are negative
fractional order sliding surfaces are defined (considering positive values for kd and kq ). Therefore, the reaching
conditions (16) are satisfied. This completes the proof.
(
sd ¼ ed þ cd D
ad ed This means that the stator currents id and iq will tend to their
ð15Þ
sq ¼ eq þ cq D
aq eq reference values ids and iqs obtained from (12) and (8) through
sliding surfaces (15). h
 S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908 899

8  
4.3. Adaptive fractional order sliding mode controller design for >
>
> h_ 1 ¼ c sd didtds þ Psq id xr þ cd sd D1
ad ed
IPMSM <  
h_ 2 ¼ c sq dtqs
Piq sd xr þ sq cq D1
aq eq ð25Þ
di
>
>
The electrical parameters Rs , Ld and Lq could vary slowly with >
:
h_ 3 ¼ cðsd id þ sq iq Þ
time. Therefore, an adaptive control strategy should be established
to compensate the effect of uncertainties in these parameters. To where c is the adaptation gain parameter.
achieve this goal, the two-axis stator voltages should be changed as
dids
v d ¼ h1
Ph2 xr iq þ h3 id þ cd h1 D1
ad ed þ kd sgnðsd Þ: ð23Þ Proof. Consider the following Lyapunov candidate function
dt
1 2 1 2 ðh1
Ld Þ2 ðh2
Lq Þ2 ðh3
Rs Þ2
V¼ Ld s þ Lq s þ þ þ : ð26Þ
diqs 2 d 2 q 2c 2c 2c
v q ¼ h2 þ Ph1 xr id þ h3 iq þ Pkm xr þ cq h2 D1
aq eq þ kq sgnðsq Þ
dt
If the slowly varying parameters Ld and Lq could have only pos-
ð24Þ
itive values, then the function V defined in (26) is a positive func-
where h1 , h2 and h3 are the adjustable control parameters that tion which could be considered as a Lyapunov candidate function.
should be adapted according to an appropriate adaptation mecha- The time derivative of (26) is calculated as
nism which is proposed through the following Theorem.
ðh1
Ld Þ dh1 ðh2
Lq Þ dh2 ðh3
Rs Þ dh3
V_ ¼ Ld sd s_ d þ Lq sq s_ q þ þ þ :
Theorem 2. Employing the stator voltages (23) and (24) with the
c dt c dt c dt
following adaptation mechanism ensures that the state trajectories ð27Þ
tend to the sliding surfaces defined in (15) and stay on them Substituting equations (23) and (24) in the error dynamics (14)
considering electrical parameters uncertainties. gives

Fig. 2. The control signals of the adaptive fractional order sliding mode controller. To minimize the chattering phenomena, the sign function (19) could be replaced with the
following saturation function.
900 S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908

Fig. 3. The detailed block diagram of the adaptation mechanism.

ðh3
Rs Þ 1 dids Pðh2
Lq Þ Table 1

e_ d ¼ id
ðh1
Ld Þ þ xr iq IPMSM specifications.
Ld Ld dt Ld
1

ðcd h1 D1
ad ed þ kd sgnðsd ÞÞ:
Features Values
ð28Þ
Ld Rated Power 2.5 KW
Rated Voltage 250 V

ðh3
Rs Þ 1 diqs Pðh1
Ld Þ Rated Frequency 60 Hz
e_ q ¼ iq
ðh2
Lq Þ
xr id Stator Resistance (Rs ) 0.2 X
Lq Lq dt Lq
Number of Pole Pairs (P) 2
1

ðcq h2 D1
aq eq þ kq sgnðsq ÞÞ:
d-Axis Stator Inductance (Ld ) 8.5 mH
ð29Þ
Lq q-Axis Stator Inductance (Lq ) 10 mH
Permanent Magnet Flux Linkage (km ) 0.175 V/rad/s
According to relations (20), (28) and (29), Eq. (27) could be Moment of Inertia (J) 0:089 kg m2
rewritten as Viscous Friction Coefficient (B) 0.005 Nm/rad/s
  Nominal Angular Velocity 1800 RPM
1 dh1 dids
V_ ¼ ðh1
Ld Þ
Full Load Torque 13.26 N.M

sd
sd cd D1
ad ed
Psq xr id
c dt dt
 
  1 dh2 diqs
þ h2
Lq þ Psd xr iq
sq
sq cq D1
aq eq
c dt dt Table 2
  Controller parameters.
1 dh3
þ ðh3
Rs Þ
sd id
sq iq
kd sd sgnðsd Þ
kq sq sgnðsq Þ:
c dt Features Values Features Values
ð30Þ Proportional Gain (kp ) 0.1908 kd 60
Integral Gain (ki ) 0.089 kq 90
If the adaptation mechanism (25) is utilized, then relation (30) cd 4 cq 1
becomes c 0.001 r 3
ad 0.97 aq 0.62
V_ ¼
kd jsd j
kq jsq j: ð31Þ

It is obvious from (31) that V_ is a negative semi-definite func-

tion. This means that sd and sq , h1 , h2 and h3 are bounded. However,
according to the Barbalat’s Lemma [30], lim VðtÞ _ ¼ 0. Thus, sd and
t!1
sq tend to zero. Consider that the control parameters h1 , h2 and h3
do not converge necessarily to their true values. Therefore, the
state trajectories reach to the sliding surfaces in a finite time. This
completes the proof.
Fig. 2 shows the block diagram corresponding with the control
signals (relations (23) and (24)). The detailed block diagram of the
adaptation mechanism (relation 25) is shown in Fig. 3. To realize
the fractional order operators, the Non-integer MATLAB toolbox is
employed [31]. In this toolbox, the fractional order operators are
approximated with high-order integer transfer functions.
S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908 901

Fig. 4. The IPMSM angular velocity and the velocity error by applying 100% load.

Fig. 5. The two-axis stator currents (id ; iq ) and their reference values (ids ; iqs ).

Fig. 6. The two-axis stator voltages vd and vq with 100% load.

902 S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908

Fig. 7. The IPMSM angular velocities by applying 100%, 75%, 50% and 25% load.

Fig. 8. The IPMSM electric torques by applying 100%, 75%, 50% and 25% load.

The optimum values for fractional orders ad and aq and the 5. Simulation results
sliding mode gains kd and kq are calculated to minimize the
following performance index (The normalized integral time abso- In this section, the performance of the proposed method is ver-
lute error) ified. Consider an IPMSM with the parameters given in Table 1 [2].
The adaptive fractional order sliding mode controller is applied to
RT RT this motor. The controller parameters obtained from the optimiza-
tjed ðtÞjdt tjeq ðtÞjdt
J ¼ R 0T þ R 0T ð32Þ tion approach are shown in Table 2. Consider that initial conditions
0
tjids ðtÞjdt 0
tjiqs ðtÞjdt for two-axis stator currents and adaptation parameters are consid-
where T is the settling time of the transient response of stator cur- ered as zero. The sampling period is consider as 0.0001.
rent errors. Fig. 4 shows the IPMSM angular velocity and the velocity error
8 x when the full load torque (T L ¼ 13:26 N:M) is applied to the motor.
< r if : jxj 6 r
> As could be seen, the load torque effect is eliminated and the motor
satðxÞ ¼ 1 if : x > r ð33Þ could track the reference velocity (xref ¼ 1800 RPM). The two-axis
>
:

1 if : x <
r stator currents and their reference values in the presence of 100%
load torque are shown in Fig. 5. The stator current track their ref-
where r is the boundary layer width. Increasing r could cause the erence values (obtained from the MTPA block), rapidly. The two-
steady state error while decreasing it could increase the chattering axis stator voltages in the presence of 100% load are shown in
effect. h Fig. 6. Fig. 7 and Fig. 8 show the obtained IPMSM angular velocities
To show the effectiveness of the proposed control method, and the electrical torques when 100%, 75%, 50% and 25% of the
some numerical simulations are presented in the next section. nominal load torque are applied to the motor shaft (in 10 s).
S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908 903

Fig. 9. The three-phase stator currents by applying the 100% load.

Fig. 10. The two-axis stator currents in the stationary rotating reference frames.

Fig. 11. The two-axis stator current errors ed and eq for 30% change in Ld .
904 S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908

Fig. 12. The two-axis stator current errors ed and eq for 30% change in Lq .

Fig. 13. The two-axis stator current errors ed and eq for 30% change in Rs .

Fig. 14. The two-axis stator current errors ed and eq for 30% change in J.
S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908 905

Fig. 15. The two-axis stator current errors ed and eq for 30% change in B.

Fig. 16. The angular velocity and the electrical motor torque for 30% change in Ld .

Fig. 17. The angular velocity and the electrical motor torque for 30% change in Lq .
906 S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908

Fig. 18. The angular velocity and the electrical motor torque for 30% change in Rs .

Fig. 19. The angular velocity and the electrical motor torque for 30% change in J.

Fig. 20. The angular velocity and the electrical motor torque for 30% change in B.
 S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908 907

Fig. 21. The d-axis stator current errors ed for integer and fractional order controllers.

Fig. 22. The q-axis stator current errors eq for integer and fractional order controllers.

Fig. 7 shows that that the load torque effect is eliminated, quickly.
The three-phase stator currents when 100% load is applied in 10 s
are shown in Fig. 9. The two-axis stator currents in the stationary
rotating reference frames (including reference and actual ones)
(ia ; ias ; ib ; ibs ) are shown in Fig. 10 (with 100% load).
To verify the robust performance of the proposed method, all
the electrical and mechanical parameters are changed 30% than
their nominal values. Figs. 11–15 show the two axis stator current
errors obtained with 30% change in Ld , Lq , Rs , J and B, respectively
(in the presence of 100% load). These figures demonstrate the
robustness of the proposed fractional order control approach
against the electrical and mechanical parameters uncertainties.
The IPMSM angular velocities and the electrical torques
obtained with 30% change in Ld , Lq , Rs , J and B are shown in
Figs. 16–20, respectively (in the presence of 100% load). These fig-
ures demonstrate the robustness of the proposed method.
Now, the results obtained with integer order sliding mode con-
troller are compared with the corresponding ones obtained with
the fractional order sliding mode controller. Figs. 21 and 22 com-
pare the d and q axis stator current errors obtained with the opti-
mum fractional orders and the ordinary sliding mode controller.
The superiority of the fractional order controller to the integer
order one is obvious form Figs. 21 and 22 (considering both the
steady state and transient responses).
Moreover, the performance index obtained from (32) is
J ¼ 0:0104 for integer order controller and is J ¼ 0:0043 for frac-
tional order controller. The advantage of the fractional order con-
troller is evident from these performance indices.
6. Conclusion
A MTPA based two-loop adaptive fractional order sliding mode
approach is proposed to control the velocity and stator currents of
an IPMSM. The Lyapunov based adaptation mechanism is utilized
to guarantee the closed loop system stability under the uncertain-
ties in IPMSM electrical parameters. The fractional order sliding
mode controllers with fractional order integrals in their sliding
surfaces give superior performance comparing with the ordinary
908 S.H. Hosseini, M. Tabatabaei / Engineering Science and Technology, an International Journal 20 (2017) 896–908
sliding mode controllers. The optimal values of the fractional
orders are obtained through an optimization approach. The pro-
posed controller with the optimal fractional orders is highly robust
under electrical parameters uncertainties and external load tor-
ques. Future research is required to make the proposed method
robust under uncertainties in mechanical parameters, too.
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