Brushless direct current motor control method of active-disturbance-rejection double-sliding-film structure

Abstract

The invention discloses a brushless direct current motor control method of an active-disturbance-rejection double-sliding-mode structure, disturbance is estimated and compensated through an active-disturbance-rejection controller, buffeting is suppressed by combining the double-sliding-mode structure, and the response speed is increased. Simulation results show that the method is superior to traditional PID control in the aspects of control precision, anti-interference capability and robustness, and is suitable for a brushless direct current motor system with high dynamic performance requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly to a brushless DC motor control method based on an auto-disturbance rejection double sliding mode structure, which is applicable to brushless DC motor control systems that require high precision, fast response, and strong anti-interference ability. Background Art

[0002] Brushless DC motors (BLDCMs) are widely used in household appliances, new energy vehicles, aerospace, and other fields due to their high efficiency, simple structure, long lifespan, etc. However, traditional PID control methods have problems such as slow response, large overshoot, and weak anti-interference ability. Although methods such as sliding mode control and fuzzy PID have been proposed in the prior art, there are still defects such as severe chattering and insufficient dynamic performance. Therefore, there is an urgent need for a brushless DC motor control method that can balance fast response, high precision, and strong robustness. Content of the Invention Patent

[0003] The present invention proposes a brushless DC motor control method with an auto-disturbance rejection double sliding mode structure, which significantly improves the control performance of the system by combining auto-disturbance rejection control (ADRC) and the double sliding mode structure. Technical Solution 1. Design of the auto-disturbance rejection controller:

[0004] Tracking differentiator: Used for signal processing, reducing the initial error, arranging the transition process, and obtaining the differential signal.

[0005] Extended state observer: Estimating the uncertain disturbances and states of the system, and realizing state feedback and disturbance compensation.

[0006] Nonlinear state error feedback control law: Using a nonlinear function to fit the error, improving the dynamic performance and robustness. 2. Design of the double sliding mode structure:

[0007] Sliding mode speed observer: Constructing the sliding mode surface function, and using an improved saturation function to replace the sign function to suppress chattering.

[0008] New sliding mode reaching law: Introducing the hyperbolic tangent function (tanh) to replace the traditional exponential reaching law, dynamically adjusting the reaching speed, and further suppressing chattering.

[0009] Sliding mode speed controller: Designing the sliding mode surface based on the motor mathematical model, and generating the quadrature axis reference current by combining the improved reaching law to ensure the stability of the system. 3. Control process:

[0010] Processing the input signal through the auto-disturbance rejection controller and estimating the disturbance;

[0011] Generating the control quantity using the double sliding mode structure to drive the brushless DC motor;

[0012] Adjust the control parameters in real time to ensure that the system responds quickly and without overshoot. Beneficial effects

[0013] High-precision control: By combining active disturbance rejection and sliding mode structure, the control precision is significantly improved.

[0014] Fast response: The response time is reduced by 0.05 seconds, and the dynamic performance is better than traditional methods.

[0015] Strong anti-interference ability: When the load changes suddenly or the rotational speed changes, the system can quickly return to stability.

[0016] No overshoot: Optimize the reaching law and saturation function design to completely eliminate the overshoot phenomenon.

[0017] Good robustness: Suitable for complex working conditions, such as starting with load or scenarios where both the load and rotational speed change suddenly. Description of the drawings

[0018] Figure 1 : Block diagram of the active disturbance rejection controller;

[0019] Figure 2 : Block diagram of the sliding mode variable structure model reference active disturbance rejection system;

[0020] Figure 3 : Frame diagram of the active disturbance rejection double sliding mode structure control system; Specific implementation manners

[0021] Parameter setting: Initialize the controller parameters according to the motor model (number of pole pairs 2, phase resistance 2.5 Ω, equivalent inductance 0.008 H, etc.).

[0022] Simulation verification: Build a model in MATLAB / Simulink and compare the traditional PID with the method of the present invention.

[0023] Result analysis: Verify the superiority of the present invention under working conditions such as sudden change in rotational speed and sudden change in load.

[0024] The description of the above examples is only used to help understand the core idea of this invention patent; at the same time, for those of ordinary skill in the art, according to the idea of this invention patent, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this invention patent.

Claims

1. A brushless DC motor control method, characterized in that, It includes the combination of an active disturbance rejection controller and a double sliding mode structure.

2. The method according to claim 1, wherein the active disturbance rejection controller includes a tracking differentiator, an extended state observer, and a nonlinear state error feedback control law.

3. The method according to claim 1, wherein the double sliding mode structure includes a sliding mode speed observer, a new reaching law, and a sliding mode speed controller.

4. The method according to claim 3, wherein the new reaching law dynamically adjusts the reaching speed by using the hyperbolic tangent function.

5. The method according to any one of claims 1-4 is applicable to the speed and torque control of a brushless DC motor.

Images