为了优化永磁同步电机(PMSM)伺服系统控制性能，提出了基于负载观测器和积分终端滑模控制器的复合控制策略。首先，建立了考虑负载扰动的PMSM模型。然后，基于滑模面和趋近律设计了积分终端滑模控制器；为了抑制负载扰动，引入负载转矩观测器，并通过李雅普诺夫定理证明了系统具有稳定性并可在有限时间内收敛。最后，仿真结果表明该控制策略的位置跟踪精度更高，响应速度更快，抗负载能力更强。

In order to optimize the control performance of permanent magnet synchronous motor (PMSM) servo system, a compound control strategy based on load observer and integral terminal sliding mode controller is proposed. Firstly, a PMSM model considering load disturbance is established. Then, an integral terminal sliding mode controller is designed based on the sliding mode surface and reaching law. In order to suppress the load disturbance, a load torque observer is introduced, and it is proved that the system is stable and can converge in finite time through Lyapunov′s theorem. Finally, the simulation results show that this control strategy has higher position tracking accuracy, faster response speed and stronger antiload capability.

山东省自然科学基金(ZR2022MF262)