无刷直流电动机的自抗扰控制设计

Auto-Disturbance-Rejection Control Design of Brushless DC Motors

针对无刷直流电动机控制系统存在速度和转矩脉动等因素的影响,提出利用自抗扰技术设计一阶自抗扰控制器,实现对无刷直流电动机的有效控制。通过采用扩张状态观测器、跟踪微分器和非线性状态误差反馈相结合而成的控制器,把系统自身模型的不确定性当作系统的内扰,自动检测并补偿控制对象的内外扰,因而适合于无刷直流电动机这类难以得到精确模型的控制。该控制系统能对转矩脉动进行抑制,同时改善速度的跟随性能和稳态性能。仿真结果显示该控制策略具有响应速度快、无超调和转矩脉动小等特点,对不确定性和外部扰动变化有较强的适应性和鲁棒性,证明了无刷直流电动机自抗扰控制的有效性。

For the influence of speed and torque from brushless DC motor（BLDCM） control system, auto-disturbances -rejection technology was proposed to design first-order auto-disturbance-rejection control （ADRC） and effectively control BLDCM. The extended state observer（ ESO）, tracking differentiator（TD） and nonlinear state error feedback （NLSEF） were used to compose a controller, the uncertainty of system was taken as an internal disturbance, and the inside and outside disturbances with control object were automatically detected and compensated. It is suitable to control such imprecise models as BLDCM. The control system can suppress the torque ripple and improve the speed performance. The simulation results reveal that the control strategy have many advantages like fast response, no overshoot and small torque ripple, and have strong adaptability and robustness to the uncertainties and the external disturbance changes. It proves the effectiveness of the ADRC.