《Table 1 PMSM parameters》

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《PMSM speed control using adaptive sliding mode control based on an extended state observer》

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To evaluate the effectiveness of the proposed method，simulations and experiments for the PI，ASMC，and ASMC+ESO methods were carried out.The specifications of the PMSM are shown in Table 1.Simulation was performed on the Matlab/Simulink platform.The experimental platform was constructed using DSP TMS320F28335 and FPGA EP3C40F324 processors.Fig.2 shows the overall block diagram of the composited speed control method based on ASMC+ESO for the PMSM servo system.The schematic diagram of the experimental platform is shown in Fig.3.