针对道路主动融冰除雪喷淋系统的电机线性比例-积分（PI）控制策略控制效率低、精确性差的问题，提出了一种基于二阶滑模自抗扰控制（ADRC）技术的转速电流双闭环控制策略。建立了喷淋系统三相永磁同步电机(PMSM)的不确定性数学模型，根据电机转速动态模型设计了扰动观测器估测负载转矩和系统的不确定性并证明了其收敛性。同时，结合超螺旋滑模控制算法，设计了复合转速控制器调节电机转速。结果表明：所提的二阶滑模ADRC策略表现出较短的响应时间，且电机恢复至额定转速的调节时间比PI控制策略缩短60%，转速超调仅为PI控制策略的48%，鲁棒性更好，能够实现电机在扰动情况下的全速域运行，可提高喷淋系统的控制精度和速度。

The PI control strategy of motor used for road active ice melting and snow removal spray system is low efficiency and low accuracy. To solve this problem, a speed and current cascade control strategy is presented based on the second-order sliding mode control and active disturbance rejection control (ADRC) technology. The uncertainty mathematical model of three-phase permanent magnet synchronous motor (PMSM) for sprinkler system is established. According to the dynamic model of motor speed, a disturbance observer is designed to estimate the load torque and system uncertainty, and its convergence is proved. At the same time, combined with the super spiral sliding mode control algorithm, a compound speed controller is designed to adjust the motor speed. The results show that the proposed secondorder sliding mode ADRC strategy has a shorter response time, and the regulation time of the motor returning to the rated speed is 60% shorter than that of the PI control strategy, and the speed overshoot is only 48% of that of the PI control strategy. The proposed strategy has better robustness, can realize the full speed domain operation of the motor under the disturbance, and can improve the control accuracy and speed of the spray system.

山东省交通运输厅科技计划项目（2020BZ02-02）