【目的】为了提高永磁同步电机的转速控制性能，保证转速误差在规定时间内收敛到预设边界以内，同时避免系统受到扰动导致控制器的奇异性与电机起动时观测器的估计峰值等问题，本文将预设性能控制与滑模控制方法相结合，提出了一种基于时变扰动观测器的预设性能滑模控制(PPSMC+TDO)方法。【方法】首先，提出了一种能够设定收敛时间的预设性能函数，并进行了误差变换，将不等式误差约束系统转换为等式约束系统。其次，提出了时变扰动观测器来估计系统扰动。然后，针对转换后的误差系统，设计了预设性能滑模控制器。【结果】在预设性能函数的约束下，PPSMC+TDO的转速误差能够在设定的0.3 s内收敛到最小预设边界εT以内。当施加外部扰动时，PPSMC+TDO的转速波动最小，瞬时转速误差已经超出了预设边界，但是控制器没有出现奇异性等不稳定行为。此外，在初始时刻，扰动估计曲线中没有出现估计峰值。【结论】试验结果表明，在预设性能函数的作用下，转速误差在指定的时间收敛到预设边界以内，保证了转速控制器具有良好的动态性能。当受到扰动后，解决了系统误差超过预设性能函数的边界导致控制器出现奇异性等问题，并且保证了对外部恒定负载扰动与周期性扰动都具有良好的抗扰效果。此外，所提时变扰动观测器有效消除了初始时刻的估计峰值。

[Objective] This paper aims to improve the speed control performance of permanent magnet synchronous motors and ensure that the speed error converges to the preset boundary within a specified time, while avoiding issues such as controller singularities caused by disturbances and estimation peaks in the observer during motor starting. In this paper, a preset performance sliding mode control method based on a time-varying disturbance observer (PPSMC+TDO) is proposed by combining preset performance control with sliding mode control. [Methods] First, a preset performance function capable of setting convergence time was proposed, and an error transformation was performed to convert the inequality-constrained error system into an equality-constrained system. Second, a time-varying disturbance observer was designed to estimate system disturbances. Then, a preset performance sliding mode controller was developed for the transformed error system. [Results] Under the constraint of the preset performance function, PPSMC+TDO ensured that the speed error converged to the minmum preset boundary εT within the preset 0.3 s. When external disturbances were applied, PPSMC+TDO demonstrated the smallest speed fluctuations. Although the instantaneous speed error exceeded the preset boundary, the controller remained stable, without singularities or other unstable behaviors. Furthermore, at the initial moment, the disturbance estimation curves showed no estimation peaks. [Conclusion] Experimental results show that under the influence of the preset performance function, the speed error converges to the preset boundary within the designated time, ensuring good dynamic performance of the speed controller. When disturbances occur, the method addresses the issue of controller singularities caused by system errors exceeding the preset performance function boundary and provides excellent anti-disturbance capability against both constant external load disturbances and periodic disturbances. Additionally, the proposed time-varying disturbance observer effectively eliminates estimation peaks at the initial moment.

国家自然科学基金(62273189);山东省自然科学基金(ZR2022MF262,ZR2021MF005)