基于扩张状态观测器的永磁无刷直流电机滑模变结构控制  

Variable Structure Control of BLDCM Based on Extended State Observer

作　　者：夏长亮[1] 刘均华[1] 俞卫[1] 李志强[1] 

机构地区：[1]天津大学电气与自动化工程学院,天津市南开区300072

出　　处：《中国电机工程学报》2006年第20期139-143,共5页Proceedings of the CSEE

基　　金：天津市应用基础研究重点项目(043802011);天津市科技攻关计划重大项目(05ZHGCGX00100)

摘　　要：根据无刷直流电机的数学模型和滑模变结构控制的特点,把换相引起的相电流变化当作外界对电机的干扰,建立了一个模型。根据此模型,构造了滑模变结构控制器,运用其对各种扰动不敏感的特性来抑制各种干扰对电机的影响。扩张状态观测器是一种性能良好的观测器,它不仅能得到不确定对象的状态,还能获得对象模型中内扰和外扰的实时控制量。电机的负载转矩用扩张状态观测器来准确估计,所以把它当作一个已知扰动来控制,这样提高了系统的控制精度。MATLAB仿真表明,与经典PID控制器相比,用滑模变结构控制器控制无刷直流电机,超调量小,速度响应快,且速度响应受电机参数变化影响小,各种外界干扰也得到了很好的抑制。用TMS320LF2407ADSP来搭建硬件电路,证明本控制器在实时控制中取得了很好的实验性能。A simplified model of BLDCM is designed on the basis of the analysis of the actual model and characteristics of VSC, neglecting some minor elements, treating current fluctuation because of the current commutating as a disturbance Based on the simplified model, the continuous, accurate and robust variable structure controller having an extended state observer for BLDCM is presented. VSC is insensitive to turbulence which can depress influence of the disturbances to BLDCM. The extended state observer （ESO） has good performance which can evaluate the states of uncertain object and real-time quantities of the object＇s disturbance. The torque of BLDCM can be evaluated exactly by the extended state observer which increases the precision of control. The simulation illustrates that variable structure controller makes BLDCM less overshoot and quick velocity response which is insensitive to parameters of BLDCM, and has good depression of many disturbances. A TMS320LF2407A digital signal processor （DSP） is used to fully prove the flexibility of the control scheme in real time.

关 键 词：无刷直流电机 滑模变结构控制 扩张状态观测器 数字信号处理器 

分 类 号：TM383[电气工程—电机]