Adaptive Inversion Sliding Mode Control Method for DC Motor Based on Disturbance Observer

Abstract

The invention discloses an adaptive inversion sliding mode control method for a DC brushless motor based on a nonlinear disturbance observer. The nonlinear disturbance observer is used to observe and compensate the unmodeled dynamic and external load disturbance of the DC brushless motor . For the motor system after disturbance compensation, the adaptive inversion sliding mode method is used to design the controller to ensure the stability of the whole brushless DC motor system. The invention uses the inversion sliding mode control to solve the shortcomings that the inversion control needs accurate modeling information of the controlled object and cannot overcome the disturbance, and improves the robustness of the system. The nonlinear disturbance observer is used to observe and compensate the unmodeled dynamics and external load disturbance of the brushless DC motor, reduce the chattering level of the inverse sliding mode control and improve the control accuracy. An adaptive law is designed for the upper bound of the disturbance observation error, and the upper bound of the disturbance observation error is estimated, and the estimated value of the upper bound of the disturbance observation error is used as the sliding mode switching gain to ensure the stability of the entire brushless DC motor system.

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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