motor-smc-pmsm

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

1. Plan first — Numbered plan with 25-input table, design-decision choices (design_decisions.md), build-script structure. Get user approval.
2. One-click reproducibility — Inject all parameters via set_param(mdl, 'InitFcn', ...). See crit_conditions.md §D-CRIT.
3. 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.
4. 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.
5. 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.
6. 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.
7. 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.
8. 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.
9. Solver = ode3 + ZeroCrossControl='DisableAll' — STA's Sign block is discontinuous. Variable-step or ZC ON causes step explosion. See crit_conditions.md §E-CRIT.
10. 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.