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

• Main Authors: JIANG FUXI, ZHOU LAN, ZHANG ZHU
• Format: Patent
• Language: Chinese; English
• Published: 25.08.2020
• Subjects: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORSOR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER; ELECTRICITY; GENERATION

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 di