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设计了一种新颖的基于改进的2阶离散平滑滤波器无刷直流电动机位置伺服控制系统。2阶离散平滑滤波器的输出适合于伺服系统,特别是2阶系统的前馈控制,能保证系统的最小时间响应和平滑轨迹跟踪。在将无刷直流电动机等效为2阶系统的基础上,整个控制系统的外环采用2阶离散滤波器控制,内环为电流PI控制器,实现无刷直流电动机的级联位置伺服控制。因此,该系统兼具线性控制和非线性控制的优点。通过负载转矩观测器的设计,提高了电动机在内部参数变化和外部负载扰动下系统的抗干扰能力。该控制方法不但能实现系统位置的良好跟踪还能保证速度的及时响应,仿真与实验结果证明了该控制策略的有效性。
A novel brushless DC motor position servo control system based on improved 2-order discrete smoothing filter is designed. The output of the second-order discrete smoothing filter is suitable for the servo system, especially the feedforward control of the second-order system, which can ensure the minimum time response and smooth trajectory tracking of the system. Based on the equivalent of the second-order system, the outer loop of the whole control system is controlled by the second-order discrete filter. The inner loop is the current PI controller, which realizes cascade position servo control of the brushless DC motor. Therefore, the system combines the advantages of linear control and nonlinear control. Through the design of the load torque observer, the anti-interference ability of the system under internal parameter variation and external load disturbance is improved. The control method can not only track the position of the system well, but also ensure the timely response of speed. The simulation and experimental results prove the effectiveness of the control strategy.