孙会琴，韩佳炜，崔晨，淮朝磊

摘要：为了降低无刷直流电动机的转矩脉动，增强运行稳定性和控制精准度，提出了一种基于滑模控制的无刷直流电动机直接转矩控制方法。基于无刷直流电动机的数学模型，采用超扭曲算法（supertwisting）的滑模控制器代替原有的转矩、磁链滞环比较器，分析了滑模控制器的稳定性，设计了磁链、转矩观测模型;利用空间矢量调制技术代替原有的开关表，实现了对控制系统开关频率的优化;仿真分析了改进前后两种方法的电动机输出特性。结果表明：采用滑模变结构控制提高了控制精准度，有效地抑制了无刷直流电动机的转矩脉动，滑模控制器的稳定性良好，开关频率恒定，逆变器的通断可控性得到改善。改进后的控制方法可以提高无刷直流电动机的系统性能，使电动机运行具有更好的鲁棒性和稳定性。

关键词：电机学;无刷直流电动机;直接转矩控制;滑模控制;转矩脉动

中图分类号：TM33文献标识码：Adoi： 10.7535/hbgykj.2020yx01008

Direct torque control method of brushless DC motor

based on sliding mode control

SUN Huiqin， HAN Jiawei， CUI Chen， HUAI Chaolei

Abstract：In order to reduce the torque ripple of the brushless DC motor， and enhance the running stability and control accuracy， a direct torque control method for brushless DC motor based on sliding mode control is proposed. Mathematical model based on brushless DC motor is established. The original torque and flux hysteresis comparators are replaced by supertwisting sliding mode controllers. The stability of the sliding mode controller is analyzed， and the flux linkage and torque observation model are designed. The original switch table is replaced by a space vector modulation technique to optimize the switching frequency of the control system.The motor output characteristics of the two methods before and after the improvement are analyzed by simulation. The analysis results show that：sliding mode variable structure control achieves improved control accuracy. The improved control method can effectively suppress the torque ripple of the brushless DC motor.Sliding mode controller has good stability， the switching frequency is constant， the on/off controllability of the inverter is good， and the improved control method advanced the brushless DC moto system ability. Motor operation has better robustness and stability.

Keywords：electromechanics;brushless DC motor; direct torque control; sliding mode control;suppress torque

無刷直流电动机（BLDCM）具有可靠性高、可控性强、效率高等优势，广泛用于伺服系统、航空、电动汽车、医疗设备和智能家电等领域[12]。无刷直流电动机运转时，转矩脉动较大，降低了电力传动系统的控制特性和驱动系统的可靠性，并带来振动、噪音、谐振等问题[3]。文献＼[4＼]详细论述了转矩脉动产生的各种原因，如电流换向、齿槽效应等。以直接转矩控制技术（DTC）计算电机的磁链、转矩和给定值的差值，利用电压矢量来达到磁链和转矩直接控制的目的，具有动态性能好、运算速度快、有效降低转矩脉动等优点。……