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为改善永磁同步电机在干扰下的速度调节,提出了一种基于非奇异终端滑模控制的非线性控制方法.引入一个非奇异终端滑模面,以解决普通终端滑模控制存在的奇异问题,且使跟踪误差在有限时间内收敛到零,以此设计一个速度跟踪控制器.为削弱由不连续切换项引起的抖振,用连续双曲正切函数替代符号函数.与PI控制相比,该控制方法对负载扰动有更强的鲁棒性.仿真验证该控制方法的跟踪性能.仿真结果表明,该控制方法比PI控制方法有更好的动态和稳态性能.“,”For the purpose of improving the speed regulation of permanent-maguet synchronous motor (PMSM) under disturbances and uncertainties,a nonlinear control algorithm based on nonsingular terminal sliding mode control method (NTSMC) was proposed.A speed tracking controller was presented by introducing a nonsingular terminal sliding mode manifold,which could not only solve the singularity problem but also make the manifold converge to zero in finite time.For the sake of reducing chattering phenomenon caused by discontinuous switching term,which usually contained sign function,a hyperbolic tangent function was utilized accounting for its continuity.Compared with the PI control method,the proposed scheme shows better robustness to torque disturbance as well as parameter variations.Numerical simulation verifies the tracking performance of proposed scheme.Simulation results show that the proposed scheme has better dynamic and steady performance in comparison with the classical PI method.