摘  要：针对无刷直流电动机易受外界扰动及参数摄动等不确定因素的影响，提出一种最优积分滑模控制器（Optimal Integral Sliding Mode Controller, OISMC）的设计方法。首先运用线性二次型最优控制理论求得标称系统的最优控制律，进而构造一种最优积分滑模面，使得初始条件就位于滑模面上；整个动态过程对于不确定性因素具有完全鲁棒性，且理想滑动运动对于给定的二次型性能指标具有最优值。将该方法应用于无刷直流电动机的转速控制，并与最优控制进行了比较，结果表明在电动机负载发生变化及系统参数摄动时，最优积分滑模控制响应快、抗干扰能力好, 表现出很好的鲁棒性。
关键词：无刷直流电动机；最优控制；转速控制；滑模控制

Abstract:A design method of optimal integral sliding mode controllers was proposed for brushless DC motors which easily affected by system uncertainties such as external disturbances and parameter variations.Firstly,the control input was determined by using linear quadratic optimal theory for the nominal system.Then,a optimal integral sliding surface was designed so that the initial condition was on the surface.The whole dynamic motion had global robustness to matched uncertainties,and the ideal sliding motion can minimize a given quadratic performance index.Finally,the proposed algorithm was applied to the speed control of a brushless DC motor and compared with the optimal control strategy.Simulation results showed that the proposed strategy had better performance and higher robustness than the optimal control strategy under load and parameters variations.
Key Words: Brushless DC motor;Optimal control;Speed control;Sliding mode control