在无刷直流电机(BLDCM)无传感器控制系统中，针对传统滑模观测器存在抖振等问题，提出了一种新的非奇异终端滑模观测器(NTSMO)方法估计电机线反电动势，所采用的非奇异终端滑模面能够实现有限时间快速收敛，并通过引入一种新的滑模趋近律削弱了抖振，提高了电机反电动势的估计精度，实现了电机转速的快速观测和控制，最后基于Lyapunov函数证明了观测器的稳定性。仿真结果表明：与传统方法相比，所设计的NTSMO能较好地抑制系统抖振，具有较好的转速估计精度。

In the sensorless control of brushless direct current motor (BLDCM), according to the chattering problems of traditional sliding mode observers, a novel non-singular terminal sliding mode observer (NTSMO) is proposed to estimate line back electromotive force. The designed non-singular terminal sliding mode surface can realize fast convergence in finite-time, and a novel sliding mode reaching law is introduced to weaken chattering. The estimation accuracy of back electromotive force is improved, the fast speed observation and control are realized. Finally, the stability of the observer is proved based on the Lyapunov function. The simulation results show that, compared with the traditional method, the proposed NTSMO can effectively suppress chattering and has a good speed estimation accuracy.

国家自然科学基金项目（62273189）；中国博士后科学基金会资助项目（2018M632622）；山东省自然科学基金项目（ZR2022MF262,ZR2021MF005）