A networked brushless DC motor delay compensation and control method using active disturbance rejection control technology

Abstract

The invention discloses a networked brushless direct current motor time-delay compensation and control method using the active-disturbance-rejection control technology. The method comprises the steps of (1) establishing a brushless direct current motor control system model containing time-varying network-induced delay, wherein the brushless direct current motor control system is described as a discrete time linear time-varying system containing single-step input time lag, and then the uncertain dynamic state, caused by time-varying delay, of the system is partially described as the additive noise of the system; (2) designing an extended state observer which is used for estimating the uncertain dynamic state caused by time-varying delay as a part of total disturbance; (3) conducting compensation on the time-varying delay item in the brushless direct current motor control system. The method can be used for effectively conducting real-time estimation and compensation on the uncertain dynamic state caused by time-varying network-induced delay by means of the extended state observer, and can well restrain the uncertainty caused by time delay, internal and external disturbance of the system and model uncertainty.

Description

technical field [0001] The present invention is applied in the field of networked motion control, and relates to the problem of brushless DC motor control based on industrial networks, especially how to eliminate the influence of network-induced time delay on the performance of brushless DC motor control system, and realize an effective real-time control method . Background technique [0002] With the development of power electronics technology and microelectronics technology, a new type of speed-regulating motor, namely brushless DC motor, has been promoted. Due to its low noise, high efficiency, simple structure, long service life, fast response, and large starting torque, it has been widely used in CNC machine tools, robotic arms, and household appliances. With the continuous expansion of industrial production scale and the continuous improvement of the safety requirements of the production process, the traditional motor control system is increasingly unable to meet the ...

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Problems solved by technology

[0006] In order to overcome the shortcomings of the above-mentioned existing control methods that cannot solve the uncertain dynamics caused by time-varying time delays for accurate estimation and weak anti-interference ability, the present invention adopts ADRC technology to design a networked brushless DC motor control system The time-delay compensation and control strategy of the time-varying network can effectively estimate and compensate the uncertain dynamics caused by the time-varying network-induced delay in real time with the extended state observer. determinism has a strong ability to suppress

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