为了提高在永磁同步电机（PMSM）转速环控制中的滑模控制(SMC)的全局收敛性，提出了一种复合SMC策略，综合了线性滑模面和非奇异终端滑模面的特点，组成新的滑模面，提高了SMC在不同运动阶段的收敛性。在此基础上对传统的幂次趋近律做出改进，改善了SMC在稳态时刻的收敛速度降低的问题。同时，使用基于SMC规律的干扰观测器来观测系统中的未建模动态和未知干扰，对设计的SMC进行补偿，降低SMC对于控制器高增益的依赖性，从而有效改善控制器在稳态时刻因滑模高增益而产生的抖振，提高SMC的控制性能。最后，通过仿真和试验证明控制方法的有效性和可行性。

In order to improve the global convergence of sliding mode control (SMC) in speed loop control of permanent magnet synchronous motor (PMSM), a compound sliding mode control strategy is proposed, which combines the characteristics of linear sliding mode surface and non-singular terminal sliding mode surface to form a new sliding mode surface and improve the convergence of SMC in different motion stages. On this basis, the traditional power reaching law is improved to reduce the convergence speed in steady state. At the same time, the disturbance observer based on SMC law is used to observe unmodeled dynamics and unknown disturbance of system, the designed SMC is compensated, the dependence of SMC for high gain controller is reduced. Thus, the chattering of controller in the steady state time due to sliding mode highgain effectively is improved, the control performance of SMC is also improved. Finally, the effectiveness and feasibility of the control method are proved by the simulation and the experiment.

陕西省自然科学基础研究计划-陕煤联合基金项目（2019JLM- 51）