针对无刷直流电机（BLDC）负载频繁改变导致电机调速性能差的问题，提出了一种基于负载转矩观测器的速度滑模控制方法。速度环采用滑模变结构控制方法，基于改进指数趋近律设计了速度滑模控制器；同时为了减小负载转矩扰动对电机运行状态的影响，基于龙伯格观测器设计了负载转矩观测器，通过观测器来估计实际的负载转矩并将观测器的输出前馈给速度滑模控制器来抵消负载转矩扰动的影响。为了验证提出方案的有效性，在MATLAB/Simulink仿真环境上搭建了仿真模型并进行了仿真分析，仿真结果表明基于负载转矩观测器和速度滑模控制器的无刷直流电机系统有着优异的性能，与传统PI控制相比，抗扰能力强、恢复时间短、转速响应快，证明了提出方案的有效性。

A speed sliding mode control method based on load torque observer is proposed to solve the problem of poor speed regulation performance of brushless DC motor (BLDC) due to frequent load changes. The sliding mode variable structure control method is used in the speed loop, and the speed sliding mode controller is designed based on the improved exponential reaching law. At the same time, in order to reduce the impact of load torque disturbance on the motor operation state, a load torque observer is designed based on the Luenberger observer, which estimates the actual load torque and feed-forward the output of the observer to the speed sliding mode controller to counteract the impact of load torque disturbance. In order to verify the effectiveness of the proposed scheme, a simulation model is built and analyzed in MATLAB/Simulink simulation environment. The simulation results show that the brushless DC motor system based on load torque observer and speed sliding mode controller has excellent performance. Compared with traditional PI control, the proposed scheme has strong anti-interference ability, short recovery time, and fast speed response. The effectiveness of the proposed scheme is proved.

TM33

航空科学基金资助项目（20183352030）