摘要： 本文根据内置式永磁同步电动机（IPMSM）的线性磁链模型，以定子电流和线性磁链为状态变量构建磁链滑模观测器，用于从观测磁链中提取位置信息实现无速度传感器控制。观测器中用实际电流与重构电流偏差构建滑模切换面，将得到的等效控制信号经反馈矩阵引入线性磁链模型中，利用磁链误差方程的滤波特性消除抖振分量，得到正弦度高的观测磁链。然后利用锁相环的频率跟踪特性，从磁链观测值中提取转子位置角及转速信息。与传统反电动势滑模观测器相比，无需低通滤波器，提高了位置辨识精度，具有更快的动态响应。仿真和实验验证了该控制方法的有效性。

关键词：内置式永磁同步电动机；线性磁链；滑模观测器；锁相环；无速度传感器控制
Abstract: In this paper, a novel flux sliding mode observer was presented, which based on linear flux model of interior permanent-magnet synchronous motor, the state variables are stator current and linear flux, this observer can extract the position information from estimated flux and realize speed sensorless control. The deviation between actual and reconstructing current was used to build the switching surface of sliding mode observer, and then got the equivalent control signal into linear flux model by the feedback matrix. Use the filtering features of flux error equation to eliminate chattering component, the estimated flux has a high sine degree. Using phase-locked loop frequency tracking characteristics, extract rotor position angle and speed information from the estimated flux. Compared with traditional electromotive force sliding mode observer, the novel flux observer don′t need low-pass filter, and improved the precision of position identification, has faster dynamic response. Simulation and experiment verify the effectiveness of the proposed control method.

Key words: interior permanent-magnet synchronous motor; linear flux; sliding mode observer; phase-locked loop; speed sensorless control