Abstract: A sliding mode active disturbance rejection decoupling control method of permanent magnet synchronous motor (PMSM) based on current deviation was proposed to address the problem of poor dynamic decoupling effect when there was current coupling and inductance parameter mismatch during the operation of PMSM. The proposed method was based on the mathematical model of the motor in the coordinate system of synchronous rotation of d and q axes. The deviation decoupling control was used to compensate the current coupling terms of d and q axes of the motor. In order to accelerate the time for the system to stabilize during startup and reduce output chattering, a new approach law including system state was designed by introducing hyperbolic tangent function through the integral sliding mode control. The difference between the estimated current value and the actual value was used as an expansion observation to comprehensively observe and compensate for disturbances, and the stability of the proposed controller was theoretically analyzed and proved. The simulation and experiment results show that the proposed method improves the rapidity and dynamic control performance of the motor, and thus realizes the approximate complete decoupling of d and q axis currents.

Key words: vehicle engineering; permanent magnet synchronous motor; sliding mode active disturbance rejection control; approach law; deviation decoupling; robustness

摘要： 针对永磁同步电机运行过程中存在电流耦合以及电感参数失配时动态解耦效果不佳的问题，提出一种基于电流偏差的永磁同步电机滑模自抗扰解耦控制方法。该方法基于d、q轴同步旋转坐标系下的电机数学模型，采用偏差解耦控制对电机d、q轴的电流耦合项进行补偿；为加快启动时系统趋于稳定的时间并降低输出抖振，采用积分滑模控制引入双曲正切函数设计了一种包含系统状态量的新型趋近律；将电流估计值与实际值的差值作为扩张观测量对扰动进行综合观测和补偿，从理论分析证明了该控制器的稳定性，仿真和试验结果表明，该方法提高了电机的快速性和动态控制性能，进而实现d、q轴电流近似完全解耦。

关键词: 车辆工程；永磁同步电机；滑模自抗扰控制；趋近律；偏差解耦；鲁棒性