无刷直流电动机系统的一种摩擦补偿方法研究

摘要

Presents a simple method of compensating friction against the character of the nonlinear model of a brushless DC motor system which transfers the original system model to a simple linear model using the method of input-output linearization, and estimates the coulomb friction in the system in real-time using a nonlinear friction estimator, and then compensate the friction in the system using a friction feedforward, and concludes from simulation results that this method can effectively eliminate the influence of friction in brushless DC motor systems.%针对无刷直流电动机系统的非线性数学模型特点，提出了一种简单的摩擦补偿方法.该方法首先利用输入输出线性化方法将原系统模型转化为一种简单的线性模型，然后给出一种非线性摩擦估计器实时估计系统中的库仑摩擦值，最后利用摩擦前馈补偿方法对其进行补偿.仿真结果表明该方法可以有效地抑制无刷直流电动机系统中的摩擦影响.