针对传统滑模观测器使用符号函数引起的抖振问题，提出了一种基于连续函数的协同观测器方法，实现永磁同步电机(PMSM)的无传感控制。首先，研究PMSM的离散数学模型。其次，建立k+1时刻的电流偏差和k时刻的电流偏差之间的函数关系。最后，利用反正切函数计算转子位置并加入角度补偿，提高观测精度。仿真结果表明，所设计的协同观测器不仅无抖振现象，还具有更高的估算精度及良好的抗干扰性能，比传统滑模观测器可以更好地实现PMSM的无传感控制。

The chattering caused by using symbolic functions exists in the traditional sliding mode observer. In order to solve the problem, a synergetic observer method based on continuous function is proposed to realize the sensorless control of permanent magnet synchronous motor (PMSM). The discrete mathematical model of the PMSM is studied. The functional relationship between the current deviation at time k+1 and that at time k is established. The arctangent function calculates the rotor position and adds angle compensation to improve the observation accuracy. The simulation results show that the designed synergetic observer has no chattering and has higher estimation accuracy and good anti-interference performance. It can better realize the sensorless control of the PMSM than the traditional sliding mode observer.

国家自然科学基金青年基金项目(51307047);湖北省高等学校优秀中青年科技创新团队计划项目(T201815);中央引导地方科技发展专项项目(2020ZYYD001)