为了提高永磁同步电机（PMSM）控制系统的转速跟踪精度和鲁棒性，抑制其周期性转矩脉动，提出了一种基于积分滑模控制和迭代学习方法的PMSM单环控制策略。控制器采用单环滑模控制策略替代了传统的转速-电流级联控制，简化了控制系统的结构，提高了系统动态响应，通过引入迭代学习控制有效抑制了因电流谐波而导致的转矩脉动，提高了转速稳态控制精度。此外，针对系统存在的外部负载扰动、模型和参数不确定性等，设计了双重扰动观测器估计系统扰动量，提高了系统的鲁棒性。最后，针对所提复合控制策略进行了试验验证。试验结果表明，所提出的控制方法具有良好的动态性能、抗干扰能力和稳态控制精度。

In order to improve the speed tracking accuracy and robustness of permanent magnet synchronous motor (PMSM) control system and suppress periodic torque ripple, a single-loop control strategy of PMSM based on integral sliding mode control and iterative learning method is proposed. The single-loop sliding mode control strategy is adopted in the controller to replace the traditional rotational speed and current cascade control, so that the control system structure is simplified and the dynamic response of the system is improved. The iterative learning control is introduced to effectively suppress the torque ripple caused by current harmonics and improve the steady-state control accuracy of rotational speed. In addition, aiming at the external load disturbances and model and parameter uncertainties of the system, a dual disturbance observer is designed to estimate the system disturbances. As a result, the robustness of the system is improved. Finally, the experimental verification of the proposed composite control strategy is completed. Experimental results show that the proposed control method has good dynamic performance, anti-interference ability and steady-state control accuracy.

国家自然科学基金项目（52037005）；中国博士后科学基金项目（2018M632622）；山东省高校青年创新科技支持计划项目（2019KJN033）