摘要
无刷直流电机(BLDCM)由于其优越的性能而广泛应用于伺服控制系统中,但在一些不确定伺服系统中,参数摄动和外加干扰影响了系统的动、静态性能和鲁棒性。针对这一问题,将反演控制方法与滑模控制方法相结合,对名义模型设计反演控制器,实际系统的不确定部分由滑模控制器来补偿,从而实现了伺服系统的鲁棒控制。仿真实验结果表明,该控制器增强了无刷直流电机位置伺服系统的抗干扰能力和鲁棒性,控制输出能快速平稳地跟随参考位置信号。
Brushless DC motor （BLDCM） has been widely used in many servo systems. However,not only parametric uncertainties but also external disturbance decrease the dynamic and static performance and robustness in some uncertain servo systems. In order to solve the problem,backstepping controller is designed for nominal model and uncertainties of practical system is compensated by sliding controller,so the robustness of servo scheme can be obtained. The simulation results show that the controllers improve the ability of disturbance rejection and robustness of the BLDCM position servo system. The position output tracks the reference position rapidly and smoothly.
出处
《机械工程与自动化》
2008年第6期161-163,共3页
Mechanical Engineering & Automation
关键词
伺服系统
反演控制
滑模控制
无刷直流电机
servo system
backstepping control
sliding mode control
brushless DC motor
