Disturbance suppression and high-precision tracking control method for brushless direct current motor servo system

Abstract

The invention discloses a disturbance suppression and high-precision tracking control method for a brushless direct current motor servo system. The method comprises the steps of S1 establishing a disturbance-containing brushless direct-current motor servo system state space model according to a voltage balance equation and a torque balance equation; S2 designing a reduced-order extended state observer according to the state space model of the brushless direct current motor servo system, and realizing real-time estimation of non-matching total disturbance f (t, xp, Mc) and armature current i (t); S3 designing an improved repetitive controller according to the periodic characteristics of the reference input, and constructing a periodic reference input signal generator; and S4 constructing acomposite controller based on a state feedback controller, a disturbance compensator, a repetitive controller and a feedforward compensator, and meanwhile, realizing effective suppression of the servosystem on non-matching disturbance and accurate tracking on periodic reference input. The method has the advantages of simple control implementation, high tracking precision, good robustness and thelike.

Description

technical field [0001] The invention mainly relates to the technical field of motor control, in particular to a method for disturbance suppression and high-precision tracking control of a brushless DC motor servo system. Background technique [0002] Brushless DC motor adopts electronic commutator for commutation, which not only maintains the good dynamic and static characteristics of brushed DC motor, but also avoids the inherent defects caused by brush commutator. It has simple structure, high operating efficiency, and output Advantages such as large torque. Therefore, it is widely used in national defense, aerospace, automotive electronics, robotics, industrial process control and other fields. [0003] In practical applications, brushless DC motor servo systems often need to track periodic signals with high precision. Repetitive control based on the internal model principle is an effective method to solve this kind of control problems. Its essence is to implant the int...

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Problems solved by technology

But this method is only suitable for the system whose controlled object is the series integrator type

Another reason that seriously restricts the application of the repetitive control method based on linear ADRR and the repetitive control method based on the disturbance observer is that in the actual system, the disturbance often does not satisfy the matching condition, that is, the disturbance and the control input are not in the same channel

The stability conditions for repetitive control systems based on equivalent input disturbance estimators are very stringent, and it may not be possible to design a controller that satisfies the stability conditions

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