【正文】 3 1 1 2 3( ) ( ) ( ) ( ) ( ) ( )( ) ( ) ( ) ( ) ( )3( ) ( ( ) ( ) ( ) ( ) ) ( )2q n n d n n f nd n n q n nm n f n d q n n m n LL x t u t Rx t PL x t x t P x tL x t u t Rx t PL x t x tPJ x t x t L L x t x t B x t T??? ? ? ?? ? ?? ? ? ? ?（ 34） 假設(shè) 1 1 0 1 2 2 0 2( ) ( ) ( ) , ( ) ( ) ( )ssu t u t u t u t u t u t? ? ? ?， 滑動面的導(dǎo)數(shù)是：1 1 1 2 3 2 3 3 12 2 2 1 3 1 3 2( ) R e ( ) ( ) e ( ) ( )( ) R e ( ) ( ) ( )s d n n fs q n nS u t t P L x x x x P t d tS u t t P L x x x x d t?? ? ? ? ? ?? ? ? ? ?（ 35） 這里 1 1 1 2 2 2( ) ( ) ( ) , ( ) ( ) ( ) , ( )n n n n ne t x t x t e t x t x t u t? ? ? ?是標(biāo)準(zhǔn)的控制輸入， Us1和 Us2是滑動控制輸入。 H∞線性矩陣不等式模糊控制為內(nèi)埋式永磁同步電動機解決了從 ISMC的最初的大輸入， ISMC解決了 H∞模糊控制中對模糊規(guī)則相當(dāng)依賴的問題。 V. 結(jié)論 H∞線性矩陣不等式 TS模糊控制器用于內(nèi)埋式永磁同步電動機上。 利用線性矩陣不等式誤差系統(tǒng)控制輸入可以定義為：41( ) ( ) ( )e j jju t M t k e t??? ? 外文翻譯 73 這里 Kj是 1by3的矩陣。因此，系統(tǒng)的魯棒性可以從最初的實例中得到保證。所以我們要做一些改變，假設(shè) 1 jjL P a n d F k L???，利用舒爾補充式 12，可以得到：111()000 ( )TpjpjTppA B F LB F IL A A Q ??????????（ 13） 這里11 1( 2 )TTi i j i j iA EA B F A L F B I?? ? ? ? ? ?，現(xiàn)在的問題改為找到正定矩陣 L和 F滿足式 13的條件，我們最后可以獲得 k j， 式 13可以通過 LMI在電腦上很容易的解決。 給出一對 (x(t),u(t))的數(shù)據(jù)，模糊系統(tǒng)推斷如下： ? ?() 1 ( ( ) ) ( ) ( ) ( )rt i i iix h z t A x t B u t w t? ?? ? ?? （ 4） 1( ) ( ( ) ) ( )r iiiy t h z t C x t?? ? （ 5） 1( ) ( ( ) ) ( )r jjiu t h z t K x t??? ? （ 6） 這里1( ( ) )( ( ) )( ( ) )ii riiu z th z tu z t?? ? 和 μi(z(t))是每個模糊規(guī)則的元素。 基于 LMI的 H∞ T S模糊控制器被視為實用的 H∞控制器，它消除了低于規(guī)定水平的外部干擾影響，所以一個想得到的 H∞控制器的性能可以被保證。因此，本論文的一個主要目的是為內(nèi)埋式永磁同步電動機作出一種高效的控制方法，而且它的計算需簡單、高效。高性能驅(qū)動器的主要標(biāo)準(zhǔn)是快速、精確的速度響應(yīng)、從任何干擾速度的快速恢復(fù)和對參數(shù)變化的不敏感性。 the second part z introduces the integral term and will be determined below. （ 21） where initial condition z(0) is determined based on the requirement s(0)=0. Different from the conventional design approach, the order of the motion equation in ISMC is equal to the order of the original system, rather than reduced by the dimension of the control input. As a result, robustness of the system can be guaranteed starting from the initial time instance. III. COMBINATION H??TS FUZZY CONTROL AND INTEGRAL SMC The mathematic model of an IPMSM in the dq synchronously rotating reference frame for assumed sinusoidal stator excitation is given as [3]: 外文翻譯 61 （ 22） where p is the differential operator. The overall scheme of the H??LMI TS fuzzy control system is as follows. H??LMI TS fuzzy based ISMC controller designed as following steps. . utilize the equilibrium point to calculate the error system. System (22) can be presented by state form as: （ 23） where x1(t) ?iq , x2(t) ?id , x3(t) ?wr ,u10(t) ?vq and u20(t) ?vd . Based on (23), a reference system can be given as: 外文翻譯 62 （ 24） where f means the required value. Then the following error dynamic system is derived. （ 25） where e?t??x?t??xf ?t??. determine for membership function. For x1 minimum case: ?For x1 maximum case: ?For x2 minimum case: ?For x2 maximum case: The fuzzy rules are as the follows: x1 is minimal and x2 is minimal: M1(t) ?E1(t)G1(t) （ 26） x1 is minimal and x2 is maximal: M2(t) ?E1(t)G2(t) (27) x1 is maximal and x2 is minimal: 外文翻譯 63 M3(t) ?E2(t)G1(t) (28) x1 is maximal and x2 is maximal: M4(t) ?E2(t)G2(t) (29) . obtain the matrixes A and B. Equation (25) can be of the following form: and the value of ( x1lim , x2lim ) is based on the rule1 to rule 4, it gets to be x1min,x1max,x2min and x2max . . calculate controller parameters K using LMI toolbox based on Theorem 1. By LMI, the error systemcontrol input is defined by (6) as （ 31） where k j is a 1by 3 matrix. Use inequality (13) and Matlab LMI toolbox to calculate out the parameters k j . So that, H??TS fuzzy controller of the system is where u1 f and u2 f 外文翻譯 64 are reference inputs. . Design ISMC for system. Based on the SMC matching condition the system with disturbance is as follows: （ 32） where d(t) is the noise or disturbance. The sliding surface is defined as: （ 33） x1r and x2r are required output values, x1n and x2n