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中文摘要：
永磁同步电机（permanentmagnetsynchronousmotors，PMSM）矢量控制的目标是使PMSM具有优良的动态性能和稳态性能，但在同步旋转坐标系下砌轴电流存在耦合，影响转矩响应性能。传统的PI无法实现解耦，而电压前馈解耦策略对参数敏感，因此提出一种基于内模的滑模电流解耦控制策略。该策略使用内模控制策略控制理想电机解耦模型，保证系统动态响应速度；使用积分滑模控制实现幽轴电流解耦，同时提高系统在整个运动过程中对参数摄动和外扰动的鲁棒性。仿真和实验结果表明该策略能有效实现dq轴电流解耦，提高系统动态性能，并且具有优良的鲁棒性。
英文摘要：
Field-oriented control （FOC） is the preferred control method for permanent magnet synchronous motors （PMSM）. The purpose of FOC is to guarantee perfect dynamic and steady performance of PMSM, but there is cross-coupling between dq currents in synchronous-frame, which impairs the characteristics of torque response. The dq currents cannot be decoupled by the traditional PI, and the traditional voltage feedforward decoupling control is sensitive to parameters, therefore a new decoupled current control strategy using sliding mode control based on internal model was proposed. The internal model control was used to control an ideal motor decoupled model, which was directly related to the system dynamic response performance. The integral sliding mode control was used to decouple dq currents, which had great contribution to the robustness of parameter uncertainties and disturbances in the current loops. The validated results of simulation and experiments demonstrate that the dq currents were decoupled, the dynamic performance was improved, and the robustness was satisfied.
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