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中文摘要：
针对永磁同步电动机位置伺服系统，基于同步旋转坐标系下永磁同步电动机精确的数学模型，利用矢量控制技术，设计了位置／电流双闭环解耦控制结构，以实现转矩线性化控制，简化控制器设计。结合高阶滑模和非奇异终端滑模的控制思想，利用鲁棒微分估计器技术，分别提出了位置环和电流环的高阶非奇异终端滑模控制方案，在保证控制系统全局非奇异和稳定性情况下，可消除控制信号的高频抖振，提高系统的动态响应速度和控制精度，实现系统强无抖振的滑模控制。提出一种自适应负载转矩估计方法，解决了未知负载扰动系统的鲁棒控制问题。仿真结果证明所提控制方法的有效性和可行性。
英文摘要：
Based on the exact model of permanent magnet synchronous motor （PMSM） in rotor coordinates and vector control technique, a position/current double closed-loop decomposed control structure is proposed for PMSM position servo system to realize torque linearization control and simplify controller design. Combined with high-order sliding mode, nonsingular terminal sliding mode （NTSM） and robust differentiation estimator technique, high-order NTSM sliding mode control schemes are proposed for position loop and current loop, respectively. The proposed scheme can guarantee global non-singularity and stability of system, eliminate high frequency chattering of control signals, improve response speed and preci- sion, and realize free-chatting sliding mode control. An adaptive load torque estimation method is proposed to solve the robust control problem of system with unknown load disturbance. Simulation results show the efficiency and feasibility of the design.
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