无刷直流电机自适应补偿最优状态反馈速度控制

为了提高无刷直流电动机调速系统的动态响应速度、稳态精度和抗随机干扰的能力，给出一种具有自适应补偿能力的最优状态反馈控制策略。推导出无刷直流电动机的状态空间模型，采用卡尔曼滤波器的状态估计，提出一种基于动态规划的最优状态反馈控制策略，给出了一种自适应控制算法，用来补偿输入信号受干扰而产生的偏差。仿真和实验结果表明，提出的方法使系统具有较好的调速性能，验证了提出方法的有效性与可行性。

Brushless Direct-current Motor Optimal State Feedback Drive Control With Adaptive Compensation

In order to improve the dynamic response speed, the steady state precision and the anti-disturbance capability of the brushless direct-current motor drive system, this paper develops an optimal state feedback control strategy with adaptive compensation. The state space model of system was established and an optimal state feed back controller using the Kalman filter state estimation technique is derived. An adaptive control algorithm was proposed to compensate for the effects of input disturbance. These two algorithms working together are capable of providing a very high-speed regulation and dynamic response. Simulation and experimental results are presented in the paper to highlight the effectiveness of the proposed control strategy.