摘要：针对传统线性控制下的永磁同步电机速度伺服系统误差收敛时间长、抗扰动性能差等问题，提出一种速度环和电流环有限时间复合控制策略。根据有限时间控制理论，分别在转速环和电流环设计了有限时间控制器，提升系统误差的收敛速度；引入二阶扩张状态观测器，削弱参数摄动、负载扰动及不确定性扰动对系统带来的影响。仿真结果表明，与传统线性控制方法相比，提出的控制策略能够明显提升系统的收敛速度与抗扰性，验证了有限时间复合控制策略的有效性。
关键词：永磁同步电机；有限时间控制；扩张状态观测器；速度伺服系统

Abstract: In order to solve the problems of long error convergence time and weak antidisturbance performance of the permanent magnet synchronous motor speed servo system based on the traditional linear control, a speed and current double closedloop control strategy adopting compound finitetime control theory was proposed. According to the finitetime control theory, the finitetime controllers were designed respectively to increase the convergence rate of the error. The secondorder expansion state observers were designed to reduce the influence of parameter perturbation, load disturbance and other uncertainties on the system. The simulation results showed that compared with the traditional linear control method, the proposed control strategy can significantly improve the convergence rate and antidisturbance ability of the system, and verified the effectiveness of the control strategy based on compound finitetime controller.
Key words: permanent magnet synchronous motor； finitetime controller； extended state observer； speed servo system