基于内模观测的无刷直流电机滑模自抗扰控制

Sliding Mode Active Disturbance Rejection Control of Brushless DC Motor Speed Loop Based on Internal Model Observer

针对无刷直流电机在浸液环境下频繁的负载扰动导致调速性能不佳的问题,提出一种基于内模观测的转速环滑模自抗扰控制方法。基于自抗扰理论设计转速环控制器,提高系统的抗扰动能力。在自抗扰控制的基础上,设计内模观测器观测负载扰动,分担扩张状态观测器的扰动观测压力,解决传统自抗扰控制中负载突变时观测器的观测精度不足的问题,提高系统抗负载扰动能力。同时基于滑模控制设计非线性误差反馈控制律并提出一种新型指数趋近律,提高系统的响应速度且不会带来过大抖振。仿真结果表明该文章提出的控制方法可显著提高无刷直流电机调速系统的抗负载扰动能力和响应速度。

A sliding mode active disturbance rejection control(ADRC) method of speed loop based on internal model observer was presented to solve the problem of poor speed control performance of brushless DC motor caused by frequent load disturbance in immersion environment. The speed loop controller was designed based on the ADRC theory to improve the anti-disturbance ability and response speed of system. On the basis of ADRC, an internal model observer was introduced to observe load disturbance, which shared the disturbance observation pressure of the extended state observer. The problem of insufficient observer accuracy when load changes in traditional ADRC was solved, and the anti-load disturbance ability of the system was improved. At the same time, the non-linear error feedback control law was designed based on the sliding mode control and a new exponential approximation law was proposed, which improves the response speed of the system without too much chattering. The simulation results show that the proposed control method can significantly improve the anti-load disturbance ability and response speed of speed control system of brushless DC motor.