传统电机控制中常用的芯片有FPGA、DSP、ARM等，均需要进行手工编程，不仅开发过程复杂，而且调试过程较为繁琐。针对此类情况，半实物仿真平台RTU (Real-time unit) 为用户提供了一种在真实硬件上无需手动编程就可以非常有效且快速地开发、优化和测试复杂控制算法的方法。采用RTU试验平台，实现了永磁同步电机（PMSM）模型参考自适应无位置传感器控制系统的开发。在MATLAB/Simulink和RTU平台下对该控制策略进行仿真和试验研究。研究结果证明了该控制方法的正确性以及RTU平台的可行性和有效性。

The traditional chips used in motor control are FPGA, DSP, ARM and so on, which need to be programmed manually. These methods are complicated in both development and debugging process. For this situation, the hardware-in-the-loop simulation platform real-time unit (RTU) provides a very effective and rapid method to develop, optimize and test complex control algorithms without manual programming on real hardware. A model reference adaptive position sensorless control system for permanent magnet synchronous motor （PMSM） is developed based on RTU experimental platform. The control strategy is simulated and experimentally studied on the platform of MATLAB/Simulink and RTU. The results show that the control method is correct and the RTU platform is feasible and effective.

江苏省创新创业训练计划项目（201910304057Z）；江苏省六大人才高峰项目(XNYQC-017)