利用基于信号补偿的鲁棒控制原理提出一种永磁同步电动机(permanent magnet synchronous motors，PMSM)鲁棒转速伺服控制器设计方法。将d-q轴下的PMSM模型转换为标称模型与不确定项和的形式，将模型参数偏差、负载转矩变化等均作为扰动包含在不确定项中，并称之为等价扰动。针对所建立的模型设计控制器，包括标称控制器和鲁棒补偿器两部分：标称控制器中包含了参考模型的信息，指定了系统的转速跟踪特性；鲁棒补偿器通过对等价扰动进行补偿来抑制转速跟踪误差。该文证明了闭环控制系统中的状态都会收敛到一个有界区域，且该收敛域的大小可通过鲁棒控制器的参数进行设定。通过在实际永磁同步电动机伺服系统上进行实验，验证了所提出的方法的有效性。

A design method of robust speed servo systems with permanent magnet synchronous motors (PMSM) was presented by applying robust control principle based on signal compensation. The model of PMSM under d-q axis is transferred into the form of a nominal model with an uncertain term. The uncertain term, called equivalent disturbance, contains model parameters' deviations, load torque disturbance, et al. Then a robust controller is designed including a nominal controller and a robust compensator. The nominal controller contains the information of a reference model which specifies the speed tracking properties, and the robust compensator compensates the equivalent disturbance and suppresses the speed ripple. It is proved that all the states involved in the closed-loop system will converge to a bounded region and the ultimate boundary of the region can be set by the compensator parameter. Finally the proposed control method is implemented on a real PMSM speed servo system and its efficiency is demonstrated.

国家自然科学基金项目(60674017, 60736024)。