摘要：针对永磁同步电机调速系统提出了一种基于反馈线性化、有限时间控制和扩张状态观测器的复合控制方案。 由于未知外部扰动和参数不确定性， PMSM伺服系统是非线性的。 首先， 利用反馈线性化的思想， 将电机模型变换为两个线性子系统。 基于永磁同步电机电压与转速和电流的数学模型， 分别设计了相应的单控制环有限时间控制器。 其次， 对于系统中存在的未知外部扰动和参数不确定性， 利用扩张状态观测器技术估计系统的集总扰动， 并且将估计值用于前馈补偿设计。 最后仿真结果表明了该复合控制方案的有效性。

关键词：永磁同步电机；反馈线性化；有限时间控制；扩张状态观测器
Abstract: A composite controller was proposed for a permanent magnet synchronous motor (PMSM) speed regulation system which was based on feedback linearization, finitetime control and extended state observer (ESO). PMSM servo system is nonlinear for it is supposed to experience unknown load torque disturbance as well as mismatched parameter perturbations. First, the PMSM speed regulation system was transformed into two linear control subsystems. Based on the mathematical model of voltage, velocity and currents for PMSM, the corresponding finitetime controllers in single control loop were designed, respectively. Then, two ESOs were introduced to estimate the lump disturbances of the system, and the estimated values were used in the feedforward compensation design. Last, the simulation results illustrated the effectiveness of the control scheme.

Key words: PMSM；feedback linearization；finitetime control；ESO