| name | motor-smc-pmsm |
| description | PMSM Sliding Mode Control Speed-Loop Builder. Build a Sliding Mode Control (SMC) speed-loop outer controller (PD-type sliding surface + Super-Twisting Algorithm reaching law) + dq current-loop PI inner controller with cross-decoupling feedforward + Anti_Park library block + SVPWM library block + Universal Bridge IGBT inverter + PMSM Discrete plant for a three-phase voltage-source-inverter-driven PMSM in Simulink. v1 baseline supports SPMSM and mild-saliency IPMSM (id_ref=0). Use when constructing, reproducing, porting, or extending an SMC-based PMSM speed-loop simulation in Simulink (keywords SMC, sliding mode control, super-twisting, STA, PD-type sliding, boundary layer SMC, 滑模控制, 滑模面). Skip for FCS-MPC, FOC, DTC, sensorless, scalar V/Hz, BLDC trapezoidal, induction-motor SMC, observer-based / adaptive / disturbance-observer / neural-network / fuzzy SMC variants, strong-saliency IPMSM MTPA, weak-field, or pure theory questions. Layered on motor-pmsm-base. |
| metadata | {"version":"1.0"} |
motor-smc-pmsm — PMSM Sliding Mode Control Speed-Loop Builder
Three-phase 2-level voltage-source inverter + PMSM. Outer-loop = PD-type sliding surface + Super-Twisting Algorithm (STA) providing iq_ref (continuous through s=0, second-order SMC). Inner-loop = dq current PI ×2 with cross-decoupling feedforward (PZC for RL plant + BEMF compensation). Modulation = Anti_Park + SVPWM library blocks. v1 baseline supports SPMSM and mild-saliency IPMSM (Lq/Ld < 2); strong-saliency IPMSM MTPA mid-loop deferred.
Layered on motor-pmsm-base. All base discipline applies.
⚠️ Signing Authority Note (SMC-specific)
Most users may lack independent SMC domain expertise. When the user declares this gap, switch to AI-self-audit mode (see base/theory_anchor.md):
- §A/§B (PI / DTC) formulas: user-signed
- §C (SMC) formulas: AI-self-audited with verifiable sources (≥ 2 independent cross-check + ≥ 1 link openable + ≥ 1 PDF cached)
Fail-safe replacement for user formula sign-off: a Phase 8 G4 user visual review on MATLAB desktop (4 Scopes + abc currents AC sinusoidal verification). G4 cannot be skipped.
Must-Follow Rules
- Plan first — Numbered plan with 25-input table, design-decision choices (design_decisions.md), build-script structure. Get user approval.
- One-click reproducibility — Inject all parameters via
set_param(mdl, 'InitFcn', ...). See crit_conditions.md §D-CRIT.
- PD-type sliding + STA architecture —
s = e + λ·de/dt (Filtered Derivative s/(Tf·s+1)) + STA reaching law u = K1·|s|^0.5·sgn(s) + K2·∫sgn(s). Do NOT use PI-type sliding (integrator wind-up voids Lyapunov proof) or classic sgn / boundary-layer sat (chattering). See control_law.md.
- iq_ref Saturation is mandatory — Saturation block at
iq_ref output BEFORE feeding to current PI, limits ±iq_max. See crit_conditions.md §B-CRIT.
- Lyapunov STA gains auto-computed;
B > 0 in v1 baseline — K1 > 1.5·√M, K2 > 1.1·M where M = (TL_max + B·ω_max)/J. Build script asserts both. Plant friction B > 0 is the v1 baseline assumption (validated envelope; not a theoretical requirement — STA convergence is damping-independent). See control_law.md and crit_conditions.md §C-CRIT.
Goto_The TagVisibility='global' MANDATORY — Anti_Park's internal From "The" requires the parent's Goto_The to publish globally; default 'local' is silent failure mode (FOC degenerates to lab-frame open-loop). See base/broken_foc_diagnostics.md §F-CRIT 1 + crit_conditions.md §G-CRIT.- FF Mux input is
ω_e (NOT θ_e) — Cross-decoupling FF formulas need electrical angular velocity, not position. Use a dedicated Gain_Pn_omega block independent of Gain_Pn (which provides θ_e for Goto_The). See ff_decoupling.md and crit_conditions.md §H-CRIT.
- Add 4 Scopes for human inspection —
Scope_wm_RPM / Scope_iq / Scope_s / Scope_Te. See crit_conditions.md §F-CRIT. Visual 4-check (motor rotates / iq tracks / abc AC sinusoidal NOT DC-locked / Te energy balance) is mandatory pre-condition for trusting any numerical metric.
- Solver =
ode3 + ZeroCrossControl='DisableAll' — STA's Sign block is discontinuous. Variable-step or ZC ON causes step explosion. See crit_conditions.md §E-CRIT.
- SVPWM sector=7 startup workaround — At t=0 transient,
Vα=Vβ=0 makes the SVPWM library's Sector_Caculate output sector=7 (invalid). Apply local-instance workaround on the library block. See svpwm_workaround.md.
Build Flow
Required User Inputs (25)
Ask user before starting. Defaults in parameter_defaults.md.
| Group | Parameters |
|---|
| Machine (6) | Pn, Rs, Ld, Lq (mild-saliency Lq/Ld < 2 v1; strong saliency deferred), psi_f, J, B > 0 (v1 baseline, default 0.008) |
| Power stage (1) | Vdc (default ≥ 1.5·√3·ω_e_max·ψ_f, i.e. Vdc/√3 ≥ 1.5× peak phase BEMF ω_e_max·ψ_f) |
| Control (3) | iq_max, T_max (default 1.5·Pn·ψf·iq_max), TL_max always asked (Lyapunov bound input) |
| SMC design (4) | lambda_pd_settling (default 10 ms), Tf_deriv (default Tsc), K1_sta (auto), K2_sta (auto) |
| Current PI (1) | omega_c_inner (default 2000 rad/s, ≈ 5× SMC bandwidth) |
| Sampling (3) | Tsc (default 50 μs), step_size (default 1 μs; step_size ≤ Tsc/50), ramp_time (default 0.5 s) |
| Mode (1) | motor_type (default 'SPMSM'; 'IPMSM-mild' for Lq/Ld < 2) |
| Solver (1) | solver (default 'ode3') |
| Scenario (4) | omega_ref_rpm, sim_time, TL_step_t, TL_after |
Triggers / Skip
| ✅ Use | ❌ Skip |
|---|
| Build / port / extend SMC speed-loop simulation in Simulink | FCS-MPC, FOC, DTC, sensorless, scalar V/Hz, BLDC trapezoidal |
| Super-twisting / PD-type sliding / boundary layer SMC | Observer-based / adaptive / disturbance-observer / neural-network / fuzzy SMC |
| Robust speed control on PMSM | Strong-saliency IPMSM MTPA mid-loop, weak-field |
| Generalizing SMC to a new PMSM machine parameter set | Pure theory questions, paper writing, MATLAB perf, unit tests |
Generalization Across Machine Sub-Types
| Sub-type | Parameter constraint | Strategy |
|---|
| SPMSM | Ld ≈ Lq | id_ref = 0 |
| IPMSM mild | Lq > Ld, Lq/Ld < 2 | id_ref = 0 workable |
| IPMSM strong | Lq/Ld ≥ 2 | MTPA mid-loop required (out of v1 scope) |
Topology does not change — same blocks, same wiring, same sliding surface, same STA, same CRIT conditions.
Out-of-scope sub-types: SynRM (ψ_f ≈ 0), IM, BLDC trapezoidal — different prediction equations.
Sibling Skills
