摘  要：设计了一种基于鲁棒非线性控制的无刷直流电机速度伺服系统。控制律中包含线性反馈、非线性反馈和扰动补偿三部分，分别实现快速响应、抑制超调和消除稳态误差的功能，采用一个降阶观测器对系统的不可量测状态和未知常值扰动进行估计。通过Matlab/Simulink进行仿真研究，结果表明所设计的控制系统可以对目标转速进行快速平稳和准确的跟踪，且对负载扰动和系统参数差异具有较好的性能鲁棒性。
关键词：无刷直流电机；非线性；扰动；状态观测器；鲁棒性

Abstract: The design of BLDC motor speed servo system was proposed based on a robust nonlinear technique. The control law consists of a linear feedback part for achieving fast response, a nonlinear feedback part for suppressing the overshoot, and a disturbance compensation mechanism for erasing the steady-state error. A reduced-order observer was adopted to estimate the un-measurable state variables and unknown disturbance. Simulations were carried out in Matlab/Simulink. The results confirm that the proposed control scheme can achieve fast, smooth and accurate tracking of target speed, and has good performance robustness with respect to the load disturbance and parameter variations.
Key words: brushless DC motor; nonlinearities; disturbance; state observer; robustness