外乱オブザーバと速度適応同定による円筒型ブラシレスDCモータの位置・速度センサレス制御

抄録

The equation of brushless dc motors is nonlinear, to which linear control theories are difficult to apply. In this paper, firstly, a disturbance observer to estimate rotor positions is proposed. By assuming the non-linear term of the e. m. f. as a kind of disturbance, the model of the brushless dc motors becomes a linear one so that the disturbance observer can be applied. Secondly, a velocity estimator using the e. m. f. estimated by the disturbance observer is proposed. The observer and estimator are 2nd-order systems. Thus they are simple and easy for tuning. Their pole assignments and influences of parameter deviations are also discussed. The experimental results show that the proposed method is valid.