无刷直流力矩电机系统的自适应扰动力矩补偿研究

陀螺漂移测试转台无刷直流力矩电机系统中存在波动力矩和负载力矩振动，这严重地影响了转台速率平稳度。为提高转台速率状态位置跟踪精度，设计了一种自适应补偿方法。该方法包含一个参自适应律和等效PID控制律，它利用前馈补偿原理，来估计电机中未知参数以及波动力矩和负载力矩参数并给与补偿。该自适应补偿方法保证了闭环系统全局稳定性和对期望位置信号的渐进跟踪。仿真结果证明：该方法有效地提高了转台速率状态跟踪精度。

Disturbance Torque Compensation for Brushless DC Motors via Adaptive Control

A robust adaptive compensation scheme is presented in this paper to compensate the disturbance torques as well as the parametric uncertainties that exist in the DC motor system. A simplified second-order linear model is used for the brushless DC motor system while the ripple force and the load force disturbance characterize the disturbance torques in the motor system. The compensation scheme consists of a PID component and an adaptive component for estimating the unknown system parameters. The system stability and the asymptotic position tracking performance are guaranteed by Lyapunov function and computer simulations verify the effectiveness of the proposed scheme for high-precision motion trajectory tracking.