针对永磁同步电机（PMSM）伺服控制系统中由外部扰动、参数失配及位置传感器带来的测控量化误差等致使传统预测函数控制（PFC）应用于转速控制时效果较差的问题，采用复合自适应无位置观测器的优化预测函数控制方法，以模型参考自适应控制（MRAC）结合扩张状态观测器（ESO）构建复合自适应观测器以提升无位置传感器观测精度及抗扰动性，准确检测出转子信息，并将其作为预测函数控制器的前馈补偿，实现了对整体伺服系统的快速、高性能控制。实验结果表明，在负载和转速突变情况下，改进型预测函数控制在响应速度与扰动抑制方面具有可行性和优越性。

Aiming at the problem of poor performance of traditional predictive function control (PFC) in speed control due to external disturbances, parameter mismatches, and measurement and control quantization errors caused by position sensors in the servo control system of permanent magnet synchronous motor (PMSM), an optimized predictive function control method was used by using a composite adaptive position observer. The composite adaptive observer was constructed by combining model reference adaptive control (MRAC)  with extended state observer (ESO) to improve the locationless observer observation accuracy and disturbance resistance, accurately detected rotor information, and used it as feedforward compensation for the predictive function controller, which achieved fast and high performance control of the overall servo system. The experimental results show that the improved  predictive function control has feasibility and superiority in response speed and disturbance suppression under sudden changes in load and speed.