摘要
针对转速和电流测量噪声对电机电磁力矩波动的影响以及动量轮运行状态切换时存在的力矩波动问题,在分析动量轮电机动态模型基础上,将转速和电流的测量误差以及噪声等效为总的扰动量,提出基于干扰观测补偿的滑模PI复合控制方法,对观测的动态扰动量进行补偿,将补偿量作为滑模控制器的输入。实验结果表明,该方法较好地解决了电磁力矩波动以及状态切换所造成的力矩波动问题,力矩跟踪误差减小到0.319 mN·m。
Aiming at the influence of the speed measurement noise,current measurement noise,the electromagnetic torque fluctuation of the motor and the torque fluctuation during the momentum wheel state switching,based on the analysis of the dynamic model of the momentum wheel motor,the measurement error and noise of the speed and current are equivalent to the total disturbance,a sliding mode PI compound control method based on disturbance observation compensation was proposed.The observed dynamic disturbance was compensated,and the compensation was used as the input of the sliding mode controller.The experimental results show that the method can solve the torque fluctuation caused by electromagnetic torque fluctuation and state switching,the torque tracking error was reduced to 0.319 mN·m.
作者
何芳
王志强
HE Fang;WANG Zhi-qiang(Beihang University,Beijing 100191,China)
出处
《微特电机》
2019年第10期56-58,62,共4页
Small & Special Electrical Machines
关键词
干扰观测器
力矩跟踪
动量轮
无刷直流电动机
disturbance observer
torque tracking
momentum wheel
brushless DC motor(BLDCM)
