Direct-current brushless motor self-adaptive inversion slip form control method based on non-linear interference observer

Abstract

The invention discloses a direct-current brushless motor self-adaptive inversion slip form control method based on a non-linear interference observer. The non-linear interference observer is adopted for observing and compensating unmodeled dynamic and external load interference of a direct-current brushless motor. The interference-compensated motor system is characterized in that: a self-adaptiveinversion slip form is adopted for designing a controller, the stable direct-current brushless motor system is ensured. By adopting the direct-current brushless motor self-adaptive inversion slip formcontrol method, the defect that inversion control needs accurate modeling information of a controlled object and disturbance cannot be overcome in inversion sliding-mode control are solved, system robustness is improved; the unmodeled dynamic and the external load interference of the direct-current brushless motor are observed and compensated by using the non-linear interference observer, the vibration level of the inversion slip form control is lowered, and control accuracy is improved; an adaptive law is designed for upper bound of interference observing error, the upper bound of the interference observing error is estimated, the estimation value of the upper bound of the interference observing error is taken as slip form switching gain, so that the stability of the whole direct-currentbrushless motor system is ensured.

Description

technical field [0001] The invention belongs to the technical field of motor servo control, and in particular relates to a DC brushless motor self-adaptive inversion sliding mode control method based on a nonlinear disturbance observer. Background technique [0002] The DC brushless motor has the advantages of the traditional DC motor, such as good mechanical characteristics and speed regulation characteristics, large starting torque, strong overload capacity, convenient adjustment, good dynamic characteristics, etc., and has the advantages of simple structure, reliable operation, It has a series of features such as easy maintenance, so it has been widely used in many high-tech fields, such as laser processing, robots and CNC machine tools. The current classic PID three-loop (position loop, speed loop and current loop) control method is the main control method for DC brushless motors. However, the brushless DC motor has unmodeled dynamics and the influence of external load ...

AI Technical Summary

Problems solved by technology

[0009] In order to solve the shortcomings of the traditional inversion control that requires accurate modeling information of the motor and cannot overcome disturbances, the present invention combines the inversion control with the sliding mode control, so that the inversion sliding mode control is robust to the unmodeled dynamics of the motor and external load disturbances. Rod

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