近日，南京航空航天大学（Nanjing University of Aeronautics and Astronautics）尹明德团队以《基于龙伯格观测器的BLDC滑模控制系统仿真研究》为题在《电机与控制应用》上发表最新研究论文，第一作者为王南越，通信作者为尹明德。
在一些负载频繁变化的应用场景，负载的突变会引起转速的变化，通过电机控制系统，转速变化最后转变成电机的输入电流并产生相应的电磁转矩。显然电磁转矩的变化要滞后于负载的变化，这导致了电机调速性能差、转速波动大，恢复时间长。
为消除由负载变化带来的影响，采用状态观测器实时观测负载的变化并将负载变化前馈给控制系统以输出相应变化的电流和电磁转矩，这样使得负载转矩的变化与电磁转矩的变化在时间上是同步的，因此可以在一定程度上改善电机的工作表现，提高电机的性能。同样，滑模变结构控制由于对系统模型精度要求不高、能够在存在不确定因素和干扰的情况下使系统保持稳定运行的特点也使得该控制策略被广泛的应用在电机控制领域。
论文的主体内容分为四部分，首先对无刷直流电机进行了数学建模；其次介绍了龙伯格观测器的工作原理，并基于龙伯格观测器设计了负载转矩观测器；随后以基于指数趋近律的滑模控制设计方法设计了速度滑模控制器；最后在Matlab/Simulink平台上搭建了仿真模型并进行了仿真试验。
试验结果证明搭建的负载转矩观测器能及时的跟踪实际负载，电机转速波动明显减小，恢复时间变短，调速性能和抗干扰能力得到改善。证明了提出方案的有效性，也证明了前馈补偿思想的正确性。
图1 无刷直流电机滑模控制系统框图
图2 无刷直流电机控制系统仿真模型
Simulation Research on Sliding Mode Control System of BLDC Based on Luenberger Observer
In some application where the load changes frequently, the sudden change of the load will cause the speed change, and through the motor control system, the speed change is finally converted into the input current of the motor and the corresponding electromagnetic torque is generated. Obviously, the change of electromagnetic torque lags behind the change of load, which leads to poor motor speed regulation performance, large speed fluctuations, and long recovery time.
In order to eliminate the effect caused by the load change, the state observer is used to observe the change of the load in real time and feed the load change to the control system to output the corresponding change of current and electromagnetic torque, so that the change of load torque and the change of electromagnetic torque are synchronized in time, so that the working performance of the motor can be improved to a certain extent, and the performance of the motor can be improved. Similarly, sliding mode variable structure control is widely used in the field of motor control due to the low requirements for the accuracy of the system model and the ability to maintain stable operation of the system under the condition of uncertainties and interference.
The main content of the paper is divided into four parts, firstly, the brushless DC motor is mathematically modeled; Secondly, the working principle of Luenberger observer is introduced, and the load torque observer is designed based on Luenberger observer. Then, the speed sliding mode controller was designed by sliding mode control design method based on exponential approximation law. Finally, a simulation model was built on the Matlab/Simulink platform and simulation tests were carried out.
Fig.1 Brushless DC motor sliding mode control system
The test results show that the load torque observer can track the actual load in time, the motor speed fluctuation is significantly reduced, the recovery time is shortened, and the speed regulation performance and anti-interference ability are improved. It proves the effectiveness of the proposed scheme and the correctness of the idea of feed-forward compensation.
论文链接：
http://www.motor-abc.cn/djykzyy/article/abstract/20231004
推荐引用格式：
王南越, 尹明德, 周兆钟, 等. 基于龙伯格观测器的BLDC滑模控制系统仿真研究[J]. 电机与控制应用, 2023, 50(10): 24-30.
WANG Nanyue, YIN Mingde, ZHOU Zhaozhong, et al. Simulation Research on Sliding Mode Control System of BLDC Based on Luenberger Observer[J]. Electric Machines & Control Application, 2023, 50(10): 24-30.
王南越，南京航空航天大学机电学院硕士研究生，研究方向为电机控制。
尹明德，博士，副教授，研究方向为机械设计及理论、机电一体化。
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