【目的】针对表贴式永磁同步电机(SPMSM)在传统滑模控制器中存在趋近速度与抑制抖振之间相矛盾的问题，提出了一种基于改进变速双幂次趋近律的滑模控制方法。【方法】首先，基于改进变速双幂次趋近律通过在传统双幂次趋近律的基础上引入滑模变量和系统变量，使趋近律具有变速特征，并采用双曲正切函数代替符号函数以抑制抖振，利用Lyapunov定理证明了所提速度控制器的稳定性；其次，针对负载扰动影响系统性能的问题，设计了非奇异快速终端滑模观测器，该观测器将非奇异快速终端滑模面与高阶滑模控制律相结合，能够抑制系统抖振，同时对扰动进行实时补偿，提高了调速系统扰动估计的精确性，减少了系统抖振；最后，基于Matlab/Simulink进行仿真并搭建电机试验平台，将所提方法和传统滑模控制以及其他变速滑模控制进行对比。【结果】仿真及电机试验结果表明，基于改进变速双幂次趋近律的SPMSM滑模调速控制方法，可以抑制系统超调，同时提高系统的响应速度，并能在出现扰动后实时补偿。【结论】通过结果可以得出所提控制方法提高了系统的动态性能和鲁棒性。

[Objective] To address the contradiction between reaching speed and chattering suppression in the traditional sliding mode controller for surface-mounted permanent magnet synchronous motors (SPMSM), this study proposes a sliding mode control method based on improved variable-speed double-power reaching law. [Methods] First, based on an improved variable-speed double-power reaching law, sliding mode variables and system variables were introduced in addition to the traditional double-power reaching law, making the reaching law exhibit variable-speed characteristics. The hyperbolic tangent function was employed in place of the sign function to suppress chattering, and the stability of the proposed speed controller was proven using the Lyapunov theorem. Next, to address the impact of load disturbances on system performance, a non-singular fast terminal sliding mode observer was designed. This observer integrated a non-singular fast terminal sliding mode surface with a high-order sliding mode control law, which could not only suppress system chattering but also provide real-time disturbance compensation. This improved the accuracy of disturbance estimation in the speed control system and reduced system chattering. Finally, simulations based on Matlab/Simulink were conducted, and a motor experimental platform was established to compare the proposed method with traditional sliding mode control and other variable-speed sliding mode control methods. [Results] Simulation and experimental results show that the SPMSM sliding mode speed control method based on the improved variable-speed double-power reaching law can suppress system overshoot, enhance system response speed, and provide real-time compensation in the presence of disturbances. [Conclusion] The results demonstrate that the proposed control method enhances the dynamic performance and robustness of the system.

安徽省自然科学基金(2108085MF200)