Abstract: To address the issue that the control system of vehicle-mounted permanent magnet synchronous motors (PMSM) is affected by uncertain factors such as external load disturbances and internal parameter changes, and to improve the system's control performance, this paper designs a proportional-integral (PI) cooperative controller. A mathematical model is established based on the kinematic characteristics of PMSM, and the design of the cooperative controller is completed using this model; genetic algorithms are adopted to optimize the key parameters of the controller, further enhancing the control accuracy. A simulation comparison between this controller and the sliding mode controller shows that the speed overshoot amplitude decreases significantly and the steadystate response time shortens; the current stabilization time is 50% of that of the sliding mode control; when the load torque changes abruptly, the speed fluctuation reduces, and the torque fluctuation time is only 10% of that of the sliding mode control. Simulation results indicate that when this PI cooperative controller is applied to vehicle-mounted PMSM, it can make the system respond faster, have stronger anti-interference ability and higher stability, providing an effective solution for the high-precision control of vehicle-mounted PMSM.

Key words: permanent magnet synchronous motor; cooperative control theory; sliding mode controller; genetic algorithm

摘要： 为解决车用永磁同步电机（PMSM）控制系统受外部负载扰动、内部参数变化等不确 定因素影响的问题，同时提升系统控制性能，文章设计比例-积分（PI）协同控制器。基于 PMSM 运动学特性构建数学模型，以此完成协同控制器设计；采用遗传算法优化控制器关键参数， 进一步提升控制精度。将该控制器与滑模控制器仿真对比发现，转速超调幅度显著降低、稳 态响应时间缩短；电流稳定时间为滑模控制的 50%；负载转矩突变时，转速波动减小，转矩 波动时间仅为滑模控制的 10%。仿真结果表明，该 PI 协同控制器应用于车用 PMSM，可使系 统响应更快、抗干扰更强、稳定性更高，为高精度控制提供有效方案。

关键词: 永磁同步电机；协同控制理论；滑模控制器；遗传算法