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非线性摩擦力矩使永磁同步电机在低速运行时出现爬行现象，严重影响电机低速性能。根据永磁同步电机数学模型及 LuGre 摩擦力矩模型，引入虚拟控制器概念，从转速方程出发，结合自适应控制和反推设计法，设计反推自适应转速控制器和电流控制器；通过对摩擦力矩和负载力矩进行分离，实现对摩擦力矩的针对性补偿。采用李雅普诺夫(Lyapunov)稳定性理论对反推自适应转速控制器和电流控制器进行稳定性分析，得出使系统稳定的控制器参数取值范围。对所提出的控制器进行仿真分析和实验验证，结果表明新控制器对摩擦力矩有一定的补偿作用，可缓解电机低速转速的脉动现象。在满足系统性能指标的同时，可以有效削弱摩擦力矩对永磁同步电机低速运行性能的不利影响。“,”Because of nonlinear characteristics of friction torque, when working in low speed range, permanent magnet synchronous motor (PMSM) may appear stick-slip phenomenon which seriously affects the low-speed performance of the PMSM servo system. Based on the PMSM mathematical model and the LuGre friction torque model, the backstepping adaptive speed controller and the current controller are designed via introducing the concept of virtual controller. The controller is designed to achieve targeted compensation of friction torque by separating the friction torque and load torque. Using Lyapunov stability theory, the controller parameters ranges are got. Simulation and experimental results show that the new controller of friction torque compensation makes PMSM more stable at low speed. At the same time to meet the system performance, which can effectively weaken the adverse impact of the friction torque of PMSM running at low speed.