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针对参数变化、负载扰动带来的永磁同步电机速度控制问题，考虑在线参数辨识算法中输入、输出信号存在噪声干扰，提出了基于总体最小二乘法 TLS 的永磁同步电机速度自适应内模控制。依据模型自适应前馈补偿的充分条件，设计基于完整最小二乘法参数辨识算法的补偿函数，以该函数前馈到被控系统中，使实际永磁同步电机速度系统等效于无参数变化、无负载扰动的标称模型，并对该标称模型设计速度跟踪内模控制器，并通过仿真实验表明了该方法在参数、负载不确定性环境下具有很好的鲁棒跟踪性能。“,”In order to improve the robustness for load disturbance, parameter variation and noise contained in the input and output signal, a new adaptive internal control method based on total least mean square (TLS) algorithm is proposed for permanent magnet synchronous motor (PMSM) speed loop in this paper. Firstly, sufficient condition of the adaptive feedforward compensation is deducted and the compensation function based on TLS parameter estimation is designed. With the help of on-line adaptive compensation, PMSM speed control system is equivalent to normal model without load disturbance and parameter variation. And the internal model controller based on normal parameter is designed. Finally simulation results show that the control strategy has good robustness for load disturbance and parameter variation.