为解决传统滑模变结构控制的永磁同步电机(permanent magnet synchronous motor，PMSM)位置伺服系统中速度不控或控制律设计复杂的问题，提出一种简化的位置、速度控制器一体化设计方法。分析常规变结构伺服系统中位置、速度滑模控制器设计的思想和方法，并利用状态变量间的对应关系改进传统滑模面。借鉴经典PID伺服系统的控制思想，综合设计系统的外环控制器，实现精确的位置定位及速度控制。在此基础上，采用积分及前馈等补偿策略以消除变结构系统中固有的抖振现象，并提高了系统的动态特性和鲁棒性。仿真和实验结果均验证了文中所提出方法的正确性及控制策略的有效性。

To solve the velocity control problem associated with conventional sliding mode control of permanent magnet synchronous motor (PMSM) servo systems, a compact integrated design method for position and velocity loops was proposed. The merits of conventional sliding mode control approach and PID control technique were introduced to design this novel integrated controller for the position and velocity loops. Some integral and feedforward compensatory strategies were applied to eliminate chattering induced by variable structure control and improve robustness and dynamic characteristics of the servo system. Both simulation analysis and experimental results demonstrate the validity of the proposed method and the feasibility of control strategies.

江苏省高技术项目(BG2004009)。