为进一步抑制永磁同步电机(PMSM)调速系统控制所产生的不稳定性问题，在传统指数趋近律基础上，设计了一种新型的趋近律。在传统指数趋近律的等速项中新加一个以滑模面s为变量的函数，同时对传统符号函数进行改进优化，进行曲线的平滑处理，以及进行改进趋近律的存在性、可达性证明。以改进后的趋近律构建滑模速度控制器，搭建系统的Simulink仿真模型，与PI控制方法、传统指数趋近律方法进行仿真效果对比。仿真结果显示，改进后的趋近律达到了减小抖振和提高抗扰性能的目的，各方面提升效果更加显著。

In order to further suppress the instability of permanent magnet synchronous motor (PMSM) speed regulation system, a new exponential reaching law is designed based on the traditional law. A new function with sliding surface s as variable is added to the constant velocity term of the traditional exponential reaching law. At the same time, the traditional symbolic function is optimized and the curve is smoothed. The existence and the accessibility of the improved reaching law are proved. Then the improved law is applied to constructing the sliding mode speed controller and building a systematic Simulink simulation model. The simulation result is compared with that of PI control and the traditional exponential reaching law method. It is shown that the improved reaching law can reduce chattering and improve anti-interference performance, with more remarkable effect than the other two methods in all aspects.

国家自然科学基金项目（61763015）