摘要近年来，工业现代化进程加快，伺服系统发展迅速，应用领域更加广泛。 无刷直流电机是伺服系统的主要动力源，由于无刷直流电机的非线性，传统的 控制策略控制效果不好。控制方式逐渐发展为现代的自适应控制、模糊控制等 等。在实际的生产生活中，对于过大的输入，控制律难以保证，关于饱和输入 的电机的最优控制也成为热门问题。81983

本文以具有饱和输入的无刷直流电机为研究对象，针对被控对象的不确定 性，采用自适应滑模控制策略，使电机控制系统更加平稳。由于输入过大，在 控制器中加入一个辅助函数，实现将输入减小，再反馈回控制器，这样就能避 免过大的输入难以控制。再设计滑模函数，并用李雅普诺夫定理来验证稳定性。 对结果进行分析，结果表明，控制所需的调节时间为 3 秒，速度跟踪信号在峰 值处带有波动，若将扰动去除，则波动明显减小，输出波形基本与目标波形相 重合，跟踪实验无误差，验证了自适应滑模具有强鲁棒性，对非线性系统能起 到很好的控制效果。

毕业论文关键字：自适应滑模；无刷直流电机；饱和输入

ABSTRACT Recently, as the process of industrial modernization is accelerated, the servo system is developing rapidly and is more widely used。 The brushless DC motor is the main power source of the servo system。 Because of its nonlinearity, the traditional control strategy is not good。 Control method is gradually connected with modern adaptive control, fuzzy control and so on。 The input sometimes is so large that the control method is difficult to guarantee  good  result  in  the actual  production and life 。So the optimal control of the motor with saturation input has become a hot topic。 In this paper, a brushless DC motor with saturation input is studied, and an adaptive sliding mode control is introduced to design a controller to make the system be more stable。 As the input is too large, an auxiliary function is joined in the controller to realize the feedback of the input after it has been reduced。 In this way we can avoid the problem that the input is too large to control。 Then sliding mode function can be designed and the stability of the system can be proved according to the lyapunov theory。 The results show that the a djusting time which is required is 3s, speed tracking signal appears fluctuations in the peak。 If the disturbance is removed, the fluctuation decreases and output waveform is in good agreement with the target waveform, which illustrates the tracking experiment has no deviation。 It proves that the adaptive sliding mode has strong robustness and can play a very good control

effect in nonlinear system。

Keywords: Adaptive sliding mode; Brushless DC motor; Saturation input

目 录

第一章 绪论 1

1。1  课题背景及研究的目的和意义 1

1。2  伺服系统介绍 2

1。3  自适应鲁棒滑模控制 4

1。4  国内外发展现状 5

1。5  主要研究内容 6

第二章 无刷直流电机数学模型建立 8

2。1  无刷直流电机的构成 8

2。1。1  电机本体 8

2。1。2  位置传感器 8

2。1。3  电子换相电路 9