基于自抗扰技术的网络化无刷直流电机控制系统时延补偿

采用自抗扰控制技术解决网络化无刷直流电机转速控制系统的时延补偿问题. 首先, 建立含有时变网络诱导时延的无刷直流电机控制系统模型, 并将时变时延引起的不确定动态描述为系统模型的不确定性; 然后, 设计自抗扰控制器, 对时延引起的不确定动态进行动态线性化补偿, 从而消除时变时延对系统性能的影响; 最后, 通过仿真研究表明了所设计的自抗扰补偿方法的有效性和优越性.

Delay compensation for networked brushless DC motor control systems based on active disturbance rejection technique

The active disturbance rejection control technique is applied to solve the delay compensation problem of the networked brushless DC motor speed control system. Firstly, an uncertain system model is presented to describe the DC motor control system with time-varying network induced delay, where the dynamics induced by the uncertain part of the delay is described by the model uncertainties. Then, an extended state observer(ESO) is designed to estimate the uncertainty of the motor speed control system model. Finally, an example is presented to show the effectiveness and superiority of the proposed active disturbance control method.