摘要：文中建立了永磁同步电机存在初始零位误差时的数学模型，分析了初始零位误差对采用Id=0控制策略的表面正弦波永磁同步电机双闭环调速系统的影响。通过劳斯判据准则判定，初始零位误差过大将会造成系统不稳定。通过Matlab仿真和实验验证，随着初始零位误差增大，转速环的动态跟踪性能和抗扰性能将会降低。文中测定了实验用电机转子转一周情况下的初始零位误差曲线。仿真结果表明，初始零位叠加正弦和噪声误差将会使速度闭环稳态精度降低。

关键词：永磁同步电机； 双闭环调速系统； 动态跟踪性能； 抗扰性能
Abstract: A mathematical model of PMSM (Permanent Magnet Synchronous Motor) was built with existing the error of the rotor initial position. When Id was equal to zero, the timing system with two closed loops was affected because of the existing the error of the rotor initial position. Using the routh criterion, the timing system would be unstable when the error of the rotor initial position was oversize. Through the Matlab emulation and experiment, it was proved that the dynamic trace performance and the antijamming performance would become worse with the error of the rotor initial position was bigger. In this paper, the curve of the error of the rotor initial position upon the circuit of the PMSM in experiment was tested and the emulation was done while the error of the rotor initial position was added sine noise or gauss noise and the steadystate precision became worse.

Key words: PMSM;  timing system with two closed loops; dynamic trace performance;  antijamming performance