传统PI速度控制和传统滑模控制(SMC)导致表贴式永磁同步电机(SPMSM)运行时速度调节差，在负载发生改变和转速突变时不能很好地控制，系统抖振较大。为了解决此问题，提出一种新型非奇异快速终端(NSFT)滑模面与模糊控制相结合的方法，设计速度控制器以实现SPMSM的无速度传感器控制。用连续函数υ(s)代替趋近律中的开关函数，有效抑制抖振；设计模糊控制规则和模糊参数自适应律，对趋近律中的参数进行自适应调整；设计Lyapunov函数证明新型SMC的稳定性。MATLAB仿真结果表明，所设计的新型NSFT模糊滑模速度控制器(NSFT-Fuzzy-SMC)在系统状态发生改变时，调节速度更快，效果更好，系统的鲁棒性更强，稳定运行时抖振更小，比传统SMC具有更好的控制性能和抗干扰能力。

Traditional PI speed control and traditional sliding mode control (SMC) lead to poor speed regulation during the surface permanent magnet synchronous motor (SPMSM) operation. When the load changes and the speed changes suddenly, traditional controllers cannot well control the system and the chattering is large. To solve these problems, a new non-singular fast terminal (NSFT) sliding mode surface combined with fuzzy control is proposed to design the speed controller, which can realize SPMSM speed sensorless control. Using the continuous function υ(s) to replace the switching function in the approaching law can effectively suppress chattering. The newly designed fuzzy control rules and fuzzy parameter adaptation law can adaptively adjust the parameters in the approaching law. Meanwhile, a Lyapunov function is designed to prove the stability of the new SMC controller. The simulation results of MATLAB show that the designed NSFT-fuzzy-SMC controller has faster adjustment speed and better adjustment effect when the system state changes, the system is more robust, and the chattering is smaller during stable operation. Compared with the general SMC, it has better control performance and anti-disturbance ability.

国家自然科学基金项目（61803233）