基于障碍函数的永磁同步电动机自适应递归终端滑模控制

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关键词：永磁同步电动机;障碍函数;递归终端滑模控制;快速终端滑模;积分滑模;自适应控制DOI：10.15938/j. emc.2025.11.009中图分类号：TM351 文献标志码：A 文章编号：1007-449X（2025）11-0088-09

Adaptive recursive terminal sliding mode control of permanent magnet synchronous motor based on barrier function

GONG Yanshu， ZHAO Ximei， WANG Lei （School of Electrical Engineering，Shenyang University of Technology，Shenyang 11O870，China）

Abstract：To address the issue that the permanent magnet synchronous motor （PMSM） servo system is susceptible to uncertain factors such as parameter changes and external disturbances，and it is difficult to estimate the upper bound of uncertain factors，an adaptive recursive terminal sliding mode control method based on barrier function （BF-ARTSMC） was proposed. Since the nonlinear term in terminal sliding mode control slows down the convergence rate when the system state is near the equilibrium point，a recursive structure combining fast terminal sliding mode and integral sliding mode was constructed，which forcesthe system to initiate directly from the sliding mode surface，thus shortening the convergence time of the system state. Secondly，in order to improve the anti-disturbance performance of the system and reduce the chatering phenomenon，an adaptive control law was designed by using the barrier function （BF）to realize the dynamic adjustment of the switching gain with the tracking error，so as to avoid the overestimation of the gain without knowing the upper bound of the disturbance in advance.In addition，the stability of the proposed controller was proved. The experimental results show that compared with PID， sliding mode control （SMC）and recursive terminal sliding mode control （RTSMC） methods，BF-AR

TSMC exhibits better robustness ， tracking accuracy and less chattering.

Keywords： permanent magnet synchronous motor; barrier function； recursive terminal sliding mode control;fast terminal sliding mode； integral sliding mode；adaptive control

0引言

永磁同步电动机（permanent magnet synchronousmotor，PMSM）伺服系统因其高效率、高可靠性和低维护成本，在工业自动化、机器人技术和电动汽车等领域具有广泛的应用[1]。（剩余12522字）