塞拉门作为轨道车辆的重要设备和进出通道，其稳定可靠的工作与乘客的生命、财产安全紧密相连。虽然，塞拉门在目前的应用中体现出具有较高的效率与可靠性的特点，但是仍有运行稳定的问题和故障产生，深入研究其门控系统中对电机运行的控制，有利于塞拉门的运行可靠性的提升和安全性的保障。 本文首先在对塞拉门控制系统的结构及其主要功能进行分析的基础上，明确选定了永磁同步电机作为控制系统的驱动电机，并介绍了直接转矩控制和矢量控制两种控制策略；分析了PMSM分别在三种坐标系（三相静止、两相静止、两相旋转）下的数学模型。其次，在MATLAB仿真平台中分别搭建PMSM转速伺服系统和位置伺服系统，基于PI控制器对其进行仿真研究，采用 矢量控制技术，研究了转速伺服系统中PMSM带载起动、突加及突卸负载时转速、三相定子电流、电磁转矩的仿真波形；研究了位置伺服控制系统中正向定位时转速响应和位置跟踪响应的仿真波形。再次，基于趋近律滑模控制器对PMSM控制系统进行仿真研究。结合趋近律滑模控制器的一般设计步骤，对PMSM转速和位置控制器分别进行设计，对速度环和位置环均采用指数趋近律滑模控制器，研究了PMSM带载起动、突加及突卸负载时转速、三相定子电流、电磁转矩的仿真波形，与采用PI控制器的PMSM转速控制系统的仿真结果进行了对比分析；研究了位置伺服控制系统中正向定位时转速响应和位置跟踪响应的仿真波形，与采用PI控制器的PMSM位置控制系统的仿真结果进行了对比分析，并达到了预期效果。 最后，简要分析了车门防挤压功能，并在实体车门上对车门运动与防挤压功能的实现进行了门试验。

As an important equipment and access channel for rail vehicles, the stable and reliable operation of the sliding plug door is closely related to the passengers' safety and property. Although in the practice the door bears the characteristics of higher efficiency and reliability, there are problems with its operation. Further study of the door control system of the motor operation control is useful for improving reliability and security. Firstly, through analyzing the structure and main functions of the control system of the sliding plug door, the permanent magnet synchronous motor is selected as the driving motor of the control system. The mathematical models of PMSM in three coordinate systems (three-phase stationary coordinate system, two-phase stationary coordinate system and two-phase rotating coordinate system) are analyzed. Secondly, the PMSM speed servo system and the position servo system are respectively built in the MATLAB simulation platform. The PI controller is used for the simulation research. The vector control technology is adopted to study the speed, three-phase stator current and electromagnetic torque simulation waveforms of the PMSM starting with load, sudden loading and unloading. The paper studies simulation waveforms of rotational speed response and position tracking response in forward position servo control system .Thirdly, the PMSM control system is simulated based on the approach law sliding mode controller. With the combination of general design steps of the sliding mode controller and the reaching law, speed and position controller are designed. The sliding-mode controller with exponential approach law is applied to both the speed loop and position loop . An exponential approach law sliding mode controller is adopted to speed loop and position loop. A research that centers on rotation rate, three-phase simulation waveform of stator current and electromagnetic torque is performed in the following cases: PMSM switching on load, with a sudden load and unload during operation. Then a comparative study is carried out between the former and the simulation waveform of speed response and position tracking response in forward position servo control system with PI controller. Finally, the anti-extrusion function of the door is briefly analyzed, and the door experiment is carried out on the sliding plug door.