摘  要：为了提高直流无刷电机伺服系统的控制性能，转矩控制及位置调节器设计是关键。传统的无刷直流电机在换相期间会产生很大的转矩脉动，该文在分析无刷直流电机数学模型和换相原理的基础上，提出了一种新的无刷直流电机换相转矩脉动抑制方法。其次，位置伺服采用了模糊自适应PID控制器实现快速跟踪控制，采用此法能够克服单纯使用PID控制存在的超调和振荡，使系统输出超调明显减小，定位速度得到提高。在实验系统中，采用以XC167CI控制系统组成的伺服系统证明所提出的方法对于提高系统的性能是有效的，最后将其成功应用于自行研制的高压输电线巡检机器人控制系统中，获得了满意的效果。
关键词：直流无刷电机；高精度；抑制转矩脉动

Abstract: In order to further enhance the performance of brushless DC motor,torque-ripple control of the motor and the position controller are the main issues of the high accuracy servo drive systems.At first in this paper,a novel method for reducing commutation torque ripple was proposed,which is based on the analysis of the mathematical model of brushless DC motor and the principle of commutation.Then this paper designed a fuzzy adaptive PID controller to track position trajectories,and presented the principle and compositon of the controller.The method can reduce the overflow of system output and improve the speed of reaching stability state in system.Experimental results based on a single-chip microcomputer XC167CI control system show the effectiveness of the proposed method.Finally，the general controller was applied into the inspection robot used for power transmission line，which can achieve satisfactory performances.
Key Words:Brushless DC motor;High accuracy;Low torque ripple