摘  要：无刷直流电机位置伺服系统采用PID控制方式，虽然简单、动态响应较快但稳态输出特性差。重复控制是一种能够消除稳定闭环内所有周期性误差，同时控制精度高，实现简单，控制性能的非参数依赖性好。结合两种控制方法特点提出了一种无刷直流电机的重复控制方法以获得良好的动态和稳态性能。仿真结果说明，无刷直流电机控制系统的跟踪精度和鲁棒性得以提高。
关键词：无刷直流电动机；PID控制；重复控制；仿真

Abstract: The PID control was used in vast majorities of the brushless DC motor servo systems with simple control algorithm,fast dynamic response,but poor steady-state output characteristics and repeated control error.According to the repetitive control that is a control program can eliminate all periodic errors in stability closed-loop,as well as its high-precision control,easy to achieve and nonparametric dependence of its control performance by combining with two control methods.Simulation results show that enhance the control system tracking accuracy and robustness of Brushless DC Motor.
Key Words: DC motor;PID control;Repetitive control；Simulation