中文摘要：

针对永磁同步电机速度伺服系统单独使用滑模控制效果不佳的问题,本文设计了基于滑模和端口受控哈密顿协调控制方案。在dq同步旋转坐标系下,建立永磁同步电机的速度系统模型,给出了永磁同步电机速度的协调控制原理,通过定义滑模面设计滑模控制器,利用端口受控哈密顿控制方法的能量成形、互联配置和阻尼注入,设计了哈密顿控制器,同时将滑模控制和PCH控制方法相结合设计了协调控制策略,并用Matlab/Simulink对滑模与哈密顿协调控制的PMSM速度控制系统进行仿真验证。仿真结果表明,永磁同步电机的滑模与哈密顿协调控制系统有效结合了两者的优点,既能快速跟踪信号,又有较好的稳态性能和较强的稳定性。因此,该控制方法具有良好的控制性能和实际应用前景。

英文摘要：

Aiming at the chattering performance of permanent magnet synchronous motor（PMSM）speed servo system which is caused by sliding mode control,a hybrid coordination control method based on sliding mode control and port-controlled hamiltonian control is proposed in this paper.We establish the speed control system model of PMSM in the dq synchronous rotating coordinate system,and come up with the principle of the coordination control of PMSM speed control.Then,a sliding mode surface sliding mode controller is designed,and a PCH controller is designed by energy shaping,interconnection configuration and damping injection.At the same time,the coordinated control strategy is designed to combine the sliding mode control and PCH control.Using the Matlab/Simulink to this system,the simulation results show that the speed system combines the advantages of the SMC and PCH control.It can not only show the fast track control of speed signal,but also optimize the system＇s stability and steady state performance.Therefore,the method proposed in the paper has good control performance and practical application.