基于改进型PI趋近律的无刷直流电机滑模控制

针对无刷直流电机模型参数时变的特性，为解决传统PID控制易受模型参数变化影响的弊端与传统滑模控制(SMC)的抖振问题，将分数阶PI与变速趋近律结合，提出了一种改进型PI趋近律的无刷直流电机滑模控制算法。该算法通过对趋近律的改进，既避免了模型参数变化的影响，又减小了系统输出的抖振。仿真与实验结果表明，与传统滑模控制、传统PI控制相比，具有响应快、鲁棒性强、超调小、抖振小等优点，是一种更优的控制方法。

Sliding Mode Control of BLDCM Based on Improved PI Reaching Law

In view of the time-varying characteristics of Brushless DC Motor (BLDCM) model parameters,in order to solve the shortcoming of the traditional PID control being susceptible to the variation of model parameters and the chattering problem of the traditional sliding mode control(SMC),an BLDCM sliding mode control strategy based on improved PI reaching law is proposed by combining with FOPI and variable rate reaching law.By improving the reaching law,the algorithm not only avoids the influence of model parameters,but also reduces the chattering of the system output.The simulation and experimental results show that compared with traditional SMC and traditional PI control,the proposed algorithm has the advantages of fast response,strong robustness,small overshoot,small chattering.It is a better control method.