【目的】在现代工业自动化领域，永磁同步电机的速度环动态性能直接影响系统的运行效率与稳定性。当前，负载转矩扰动、参数变化等因素对速度环动态性能影响显著，限制了电机在高精度、高动态响应场景下的应用。【方法】针对此问题，本文提出一种基于自适应滑模负载转矩观测器的变参数比例积分(PI)控制策略。该策略创新性地将滑模观测器的高精度估计能力与变参数PI控制的自适应特性相结合。通过滑模观测器实时捕捉负载转矩的瞬态变化，驱动PI控制器动态调整比例和积分参数，使系统在不同工况下都能保持最优控制状态，从而实现全局动态优化。【结果】通过仿真与试验对所提控制策略的有效性进行验证。结果表明，变参数PI控制相较于传统固定参数PI控制，其动态响应速度提升了约27.5%。相较于普通PI双闭环控制，通过速度环变参数PI控制与负载转矩辨识补偿，系统超调量减少了20.6%，恢复时间减少了56.6%，响应时间减少了50%。【结论】所提控制策略有效提升了永磁同步电机速度环的动态响应速度、稳态精度与抗扰动能力，显著增强了系统控制效果，在新能源汽车、工业机器人等领域展现出良好的工程应用前景。

[Objective] In the field of modern industrial automation, the dynamic performance of the speed loop of permanent magnet synchronous motors directly affects the operational efficiency and stability of the system. Currently, factors such as load torque disturbances and parameter variations have a significant impact on the dynamic performance of the speed loop, limiting the application of the motor in high-precision and high-dynamic response scenarios. [Methods] To address this problem, this paper proposed a variable parameter proportional integral (PI) control strategy based on the adaptive sliding mode load torque observer. This strategy innovatively combined the high-precision estimation capability of the sliding mode observer with the adaptive characteristics of variable parameter PI control. By capturing the transient changes in load torque in real-time through the sliding mode observer, the PI controller was driven to dynamically adjust the proportional and integral parameters, enabling the system to maintain optimal control under different operating conditions and achieve global dynamic optimization. [Results] The effectiveness of the proposed control strategy was verified through simulation and experiment. The results showed that the variable parameter PI control improved the dynamic response speed by approximately 27.5% compared with the traditional fixed-parameter PI control. Compared with the normal PI dual closed-loop control, the system overshoot was reduced by 20.6%, the recovery time was reduced by 56.6%, and the response time was reduced by 50% through the speed loop variable parameter PI control with load torque identification compensation. [Conclusion] The proposed control strategy effectively enhances the dynamic response speed, steady-state accuracy and anti-disturbance capability of the speed loop of permanent magnet synchronous motor, significantly enhances the system control effect, and shows good engineering application prospects in the fields of new energy vehicles and industrial robots.

江苏省研究生科研实践创新项目(SJCX25_0723)