中文摘要：

针对永磁同步电动机绕组相电流和转速强耦合特性，基于永磁同步电动机精确的数学模型，依据中继切换控制机制和有限时间收敛的终端滑动模态控制机制，研究了永磁同步电动机的有限时间跟踪问题，给出了其终端滑模控制器的设计方案。在所设计的控制作用下，闭环系统将在有限时间内达到平衡状态，保证了闭环系统所有信号的有界性和平衡点的全局稳定性，系统在有限时间内精确地跟踪给定的参考信号。对永磁同步电动机模型进行了数值仿真，结果表明，在所设计的终端滑模控制器作用下，系统的跟踪误差在有限时间内达到零，验证了所提算法的正确和有效性。

英文摘要：

Based on the exact model of the PMSM （permanent-magnet synchronous motor） , finite time tracking controller design is considered using the relay switching control mechanism and the terminal sliding mode control scheme. Under the designed controller, the state of the closed-loop system will reach the equilibrium in finite time. Moreover, the boundedness of all the signals of the closed-loop system and the global stability of equilibrium point are guaranteed and the system states accurately track the states of the reference signal in finite time. A numerical simulation was given for a concrete PMSM model. The simulation results show that the system tracking error can become zero in finite time under the designed terminal sliding mode controller, and numerical simulations validate the efficiency of the control scheme.