【摘要】 永磁同步电机伺服系统采用传统定参数滑模控制时，阶跃位置响应会在系统参数变化时发生超调或响应速度变慢。针对该问题，本文将滑模控制器与递推最小二乘法观测器相结合，利用观测器观测得到的系统转动惯量和负载转矩值对滑模面参数进行修正，构成变参数滑模控制器，以进一步增强伺服系统的鲁棒性。仿真和实验证明变参数滑模控制器可使系统在转动惯量等参数发生变化时仍然能够快速且无超调地跟随阶跃的位置指令，有较强的鲁棒性。更多还原

【Abstract】 In a permanent magnet synchronous motor servo system which uses traditional fixed parameter sliding mode control(SMC),step position response often suffers from overshoot or slow dynamics when the system parameters vary. Considering this problem, this paper combined the SMC with a recursive least square observer, so that the observed values of system inertia and load torque were used to modify the sliding mode surface parameter to form a variable parameter SMC(VSMC),so as to further enhance the robustness of the servo system. Simulation and experiments proved that the VSMC can make the position response follow the step reference command quickly without overshoot, when the system inertia and other parameters change, system robustness exhibiting strong.更多还原