中文摘要：

为了提高永磁同步电机转速伺服控制性能,针对伺服系统模型参数不确定和外部扰动强的特点,利用基于趋近律设计方法的滑模控制理论,设计了一种永磁同步电机转速伺服积分滑模控制器。滑模面函数中的状态偏差积分项,确保了转速跟踪稳态无静差;通过引入非线性幂次组合函数构造的基于跟踪偏差的变速趋近律,使得切换增益具有随系统偏差自适应调整的特性,并可有效抑制滑模控制输出的抖振。经与转速伺服PI控制器对比实验表明,变速趋近律积分滑模控制器具有更好的动、静态特性和鲁棒性。

英文摘要：

An integral-type sliding mode speed control for permanent magnet synchronous motor（PMSM）servo system was proposed to improve speed servo dynamic quality. The speed controller was designed based on variable rate reaching law method,and some system uncertainties including in model parameters and external disturbances were also considered. The integral term in the sliding mode surface function can ensure the speed tracking control without steady error. Due to the new variable rate reaching law algorithm designed by power combination function,the gain of the switch function was granted the capability of automatic adjust with tracking error,and the chattering amplitude can be progressively damp. Simulation and experimental results show that the proposed speed controller has a better stability,transient and robustness compared with that of PI controller.