针对传统滑模控制采用不连续的符号函数作为滑模面切换函数所引起的抖振问题，提出一种基于改进型滑模变结构的永磁同步电机的无位置传感器矢量控制方法，来削弱抖振，从而改善系统的动、静态性能。首先，设计了改进型滑模控制器和改进型滑模观测器的变结构控制系统。其次，采用连续的开关函数——双曲正切函数作为滑模面切换函数，并通过模糊逻辑控制对双曲正切函数的形状系数进行调整，减弱固定边界层厚度所引起的抖振。然后，运用李雅普诺夫第二定理证明所设计的控制系统的稳定性。最后，与其他方法相比，仿真结果证明了所提方法的可行性和有效性。

Aiming at the chattering caused by the traditional sliding mode control using the discontinuous sign function as the switching function, a sensorless vector control method based on an improved sliding mode control with variable structure for the permanent magnet synchronous motors is proposed, so as to improve the static and dynamic performance of the system. Firstly, a control system with variable structure based on an improved sliding mode controller (ISMC) and an improved sliding mode observer (ISMO) is designed. Secondly, a continuous switching function, hyperbolic tangent function, is used as the sliding mode switching function, and its shape coefficient is adjusted by fuzzy logic control to reduce the chattering caused by the fixed boundary layer thickness. Then, the stability of the control system is proved by utilizing Lyaplov's second theorem. Finally, compared with other methods, the simulation results verify the feasibility and effectiveness of the proposed scheme.

国家自然科学基金项目(92267106)；重庆英才计划基础研究与前沿探索项目(cstc2021ycjh-bgzxm0017)