Abstract: The sliding gain choice directly influence the robustness of the sliding mode control result of chattering. By using position signal error, sliding mode surface integral and sliding gain the non-linear relationship among this novel, present the design method of sliding gain. Combining the position control is a novel design method of the equivalent control method to improve the robustness of sliding mode control, weaken the sliding mode variable structure of chattering. In addition, the sliding line is extended to a control method of PI and sliding mode control effect in different stages in PMSM’s servo system. The application of Matlab/Simulink established permanent magnet synchronous motor servo system simulation model. The simulation results show that this scheme is with strong robustness, good static, dynamic characteristics and significantly decreasing buffeting.

Key words: position servo, sliding mode control, permanent magnet synchronous motor, vector control, chattering

摘要： 滑模增益的选择直接影响系统抖振，利用位置信号误差、滑模面积分与滑模增益之间的非线性关系来设计滑模增益，再结合等效控制方法来削弱滑模抖振改善系统的鲁棒性。将单段滑模线控制扩展成在不同阶段PI与滑模分别起作用的两段控制方法应用于永磁同步电机位置控制。应用Matlab/Simulink建立了永磁同步电动机伺服系统的仿真模型，仿真结果表明该方案对系统参数不确定、外界扰动具有强鲁棒性。系统动静态品质优良，滑模控制的抖振得到明显抑制。

关键词: 位置伺服, 滑模变结构控制, 永磁同步电机, 矢量控制, 抖振