中文摘要：

针对永磁同步电机构成的伺服控制系统建模不够精细、控制模型不能在线监测调控，传统的滑模变结构控制系统输出存在抖振，容易引起转矩波动等问题，提出一种双闭环滑模变结构二自由度PID控制算法。控制器内环采用定子电阻在线估测滑模变结构控制，外环采用带控制权观测变量的滑模变结构二自由度PID控制。由于滑模变结构控制器的引人，将转矩波动以及温度变化对模型精确性的的影响降到了最低。通过控制权观测变量将二自由度PID与滑模变结构的融合，削弱了变结构控制的抖振性，提高了电流曲线的平滑性。通过Maflab仿真结果表明所设计的控制方案在保证控制系统精度、跟踪值最优的同时提高了系统的鲁棒性、极大的降低了稳态抖振现象。

英文摘要：

Aiming at the problems that the permanent magnet synchronous motor servo control system composed of modeling is not fine, control model can not on-line monitoring control, and the traditional sliding mode is easy to cause the torque fluctuation, the paper put forward a PID control algorithm with double loop sliding mode variable structure of two degrees of freedom. In the inner loop, the stator resistance was used to estimate the sliding mode vari- able structure on line, and the outer loop was controlled by the sliding mode variable structure with two degrees of freedom PID. Due to the introduction of sliding mode variable structure controller, the effect of torque fluctuation and temperature change on the model accuracy was reduced to a minimum. By using the new intermediate variable, the fusion of the two degree of freedom PID and the sliding mode variable structure can weaken the chattering of the varia- ble structure control and improve the smoothness of the current torque curve. The simulation result based oon Matlab shows that the control scheme can ensure the accuracy of the control system, while the tracking value is optimal and the robustness of the system is improved, which greatly reduces the steady-state chattering phenomenon.