自抗扰控制器在无刷直流电机控制系统中的应用

Application of the Active-disturbance-rejection Controller in the Control System for Brushless DC Motor

为提高控制系统的动态性能和鲁棒性,设计了无刷直流电机的自抗扰控制方案。利用其内部的扩张状态观测器可以估计系统的内外扰动,据此将电机等效为由两个非线性系统构成的串联对象,然后设计两个一阶自抗扰控制器实现对电机的内外环控制。实验结果表明,控制系统具有优良的动态性能。

In order to achieve high dynamic performance of control systems, a new strategy for brushless DC motor is designed by means of active-disturbance-rejection controller （ADRC for shorten）. An extended states observer （ESO for shorten） is employed in ADRC to calculate the real-time value of disturbance, so the motor model is transformed into a series-connection object--The control design includes two ADRCs, one controls the current in armature winding which becomes the inner loop. While the other controls rotor speed which becomes the outer loop. The experiment results show the excellent dynamic performance of controllers.