摘 要：为提高无刷直流电机调速系统的鲁棒性，利用扰动观测器对外部负载转矩扰动进行估计并加以补偿，利用模糊自适应控制器实现PID参数的在线自整定，以适应因系统内部参数变化引起的扰动。仿真和实验表明，所设计的调速系统对系统负载扰动和参数变化的鲁棒性较好，并具有较高的速度跟踪精度。
关键词：无刷直流电机；鲁棒性；扰动观测器；模糊自适应控制；仿真；实验

Abstract: To improve the robustness of the brushless DC motor control system,a disturbance observer was proposed to estimate and to compensate the load disturbance.The parameters of PID was modified automatically on line through a fuzzy adaptive controller to adapt the disturbance caused by the motor parameter uncertainty.Simulation and experimental results verified that the proposed control scheme showed robust to the load disturbance and motor parameter uncertainty which improved the precision of the speed control system.
Key Words: Brushless DC motor；Robustness；Disturbance observer；Fuzzy adaptive control；Simulation;Experiment