Research Of Active Disturbance Rejection Based Iterative Learning Control For The Brushless DC Motor Control System

The brushless DC motor(BLDC motor)has advantages in good control performance,strong controllability and wide speed regulation range,as a result,BLDC motor has been widely used in many fields such as movement control,aerospace,pharmaceutical,digital products,household appliances and even electric vehicles.BLDC motor not only has the advantages of traditional DC motor,but also avoids defects of traditional DC motor running unstable,load noise and easy to malfunction by replacing mechanical commutator with electronic commutator.BLDC motor uses electronic commutator to realize commutation,which leads some difficult problems such as torque ripple.First of all,this paper introduces the development of BLDC motor,and describes the current research status of motor drive and control at home and abroad.Starting from the composition and structure of BLDC motor,the paper introduces that various part of the motor cooperates with each other to complete commutation.According to the circuit equation of the BLDC motor model,analyze the torque ripple caused by motor commutation,and point out the relationship between motor torque and phase current.Secondly,discuss the method of reducing motor torque ripple by tracking motor phase current in real time.Aiming at the periodicity of BLDC motor,combined with the iterative learning control(ILC)algorithm,extend extended state observer in time domain of active disturbance rejection control(ADRC)to iterative domain,obtain iterative extended state observer,and design the active disturbance rejection based iterative learning control(ADR-based ILC)algorithm,the convergence of the ADR-based ILC algorithm is also proved.After discussing a design scheme of BLDC motor current loop control using ADR-based ILC,the simulation results in MATLAB show that ADR-based ILC algorithm can effectively track motor current compared with PID and linear ADRC,this control algorithm is less affected by the change of motor load and has a strong effect on restraining motor torque ripple.Design BLDC motor actual control system that based on STM32,and explain the design of system's hardware and software.Finally,carry out experiment of the BLDC motor control system,and analyze the experimental results of the motor.