一种新型趋近率的无刷直流电动机伺服系统变结构控制

Variable Structure Control for BLCDM Servo System Based on a New Approach Law

为提高无刷直流电动机伺服系统的快速跟踪性能,提出一种新的滑模变结构速度控制策略。为了有效抑制系统在滑模切换面上的抖振,提高系统鲁棒性,在建立无刷直流电动机模型的基础上,提出了一种PID趋近率的变结构控制策略,使切换函数以PID趋近率快速进入滑模面,有效地减小了系统的抖动。仿真及实验结果表明采用所提出的基于PID趋近率的变结构控制策略,系统基本无超调,动态响应快,跟踪性能好,且系统对参数扰动具有较强的鲁棒性。

A new slide mode variable structure speed control strategy was developed to improve the tracking performance of BLDCM servo system. A PID approach law variable structure control strategy was proposed in order to efficiently weaken the chattering on the sliding surface of the system and improve the robustness and performance based on the model of BLDCM. The simulation and experimental results validate that the proposed PID approach law variable structure control strategy made the system has well robustness for parameters disturbance, fast dynamic response and well tracking performance.