Composite control method for improving anti-interference capability of brushless direct current motor

Abstract

The invention discloses a composite control method for improving an anti-interference capability of a brushless direct current motor. The method comprises the steps: S1, building a brushless direct current motor state equation, concluding parameter perturbation and external load interference as total disturbance, and building a brushless direct current motor servo system state space model; S2, taking the total disturbance as an extended state variable, and reconstructing a system equivalent state space model by separating a measurable state and an unmeasurable state of the system; S3, constructing a reduced-order extended state observer, and estimating the total disturbance and the unmeasurable state of the system online; and S4, designing a backstepping controller based on disturbance dynamic compensation by using the estimated value of the reduced-order extended state observer and the measurable state of the system, suppressing the influence of disturbance on the output of the system, improving the dynamic performance and robustness of the system, and ensuring the accurate tracking of the output of the system on reference input. The method is easy to implement, high in control real-time performance, high in tracking precision and the like.

Description

technical field [0001] The invention mainly relates to the technical field of motor control, in particular to a composite control method for improving the anti-disturbance capability of a brushless DC motor. Background technique [0002] Brushless DC motors not only have the advantages of reliable operation and simple structure of AC motors, but also have the characteristics of high operating efficiency and good speed regulation performance of DC motors, so they are widely used in aerospace, automotive electronics, robotics and other fields. In most applications, the traditional PID control can meet the performance requirements of the system. However, considering that the brushless DC motor itself is a multivariable, strongly coupled, nonlinear system, when the motor is operated by parameters and external loads, etc. When the interference of large uncertainties is affected, the control accuracy of traditional control methods is difficult to meet the requirements, and even da...

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Problems solved by technology

[0007] It is worth noting that the above-mentioned control methods all use full-state feedback control, and it is necessary to ensure that all states of the system can be accurately measured

For the actual brushless DC motor servo system, usually only the motor speed is convenient for direct measurement. To accurately measure other states will undoubtedly increase the control cost and the mechanical structure complexity of the motor.

In addition, a large amount of measurement noise may also reduce the possibility of implementing full state feedback control

[0008] Another example, the literature (Brushless DC Motor Control Simulation Based on Improved Generalized Predictive Control Algorithm [J], Information and Control, 2017, 46(3): 350-357) pointed out that the steady-state tracking error of the brushless DC motor is large when the load is running. , The problem that the performance of the motor is affected by the uncertainty of the load, a speed regulation method based on the improved generalized predictive control algorithm is proposed

For the model mismatch phenomenon caused by the external load is not zero, the load feedback compensation is used to improve the system performance, but this compensation needs to assume that the external load is completely measurable, and such an assumption is usually difficult to realize in the actual control system

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