基于自抗扰控制器的无刷直流电机控制系统

自抗扰控制器(ADRC)是在继承经典PID不依赖于对象模型优点的基础上，通过改进经典PID固有缺陷而形成的新型控制器，性能优良并且算法简单。无刷直流电机作为一个非线性系统，采用经典PID控制难以得到满意的控制效果。为了提高控制系统的动态性能和鲁棒性，文中给出了无刷直流电机的自抗扰控制方案。该控制方案不需要精确电机参数就可以实现干扰补偿，控制器的设计也不需要建立电机的精确数学模型。自抗扰控制器利用其内部的扩张状态观测器可以估计出系统的内外扰动，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，内环控制电流，外环控制转速。实验结果表明，自抗扰控制器对电机模型的不确定性和外部扰动变化具有较强的适应性和鲁棒性，控制系统具有优良的动态性能。

CONTROL SYSTEM OF BRUSHLESS DC MOTOR BASED ON ACTIVE-DISTURBANCE REJECTION CONTROLLER

The active-disturbance rejection controller (ADRC) is independent of system model and overcomes the shortcomings of classic PID controller, so ADRC has good performance and simple algorithm. In order to achieve high dynamic performance of control system, a new strategy for brushless DC motor is presented by using ADRC in this paper. The strategy realizes the disturbance compensation without accurate knowledge of motor parameters and the controller can be designed without accurate motor model. Extended states Observer(ESO) in ADRC can real-time calculate the value of disturbance, so the motor model is transformed into a series-connection object. The control design includes two one-order ADRCs. One ADRC controls the current in armature winding, which is the inner loop, and the other ADRC controls rotor speed, which is the outer loop. The experiment results show that the controllers ensure very good robustness and adaptability under modeling uncertainty and external disturbance and produce better dynamic performance than classic PID controller in the operation conditions.