关键词: 空心杯直流电机, 电流脉动, 元件换向, 自适应准谐振, 解耦型扩张状态观测器

Abstract: To attenuate the output armature current ripple caused by commutation effect of the coil components of coreless DC motor,an adaptive quasi resonant decoupled extended state observer ( AQRDESO) is proposed to combine with current linear active disturbance rejection controller. An adaptive quasi resonant controller which can estimate the frequency of the periodic disturbance and modify the resonant frequency in real time is embedded in the disturbance estimation channel of decoupled extended state observer ( DESO ) . The AQRDESO can compensate for periodic disturbance with different frequency,enabling it to be applied in a variable speed and load condition. The control system has high robustness. Simulation is conducted to verify the effectiveness of current ripple attenuation of the AQRDESO,which is helpful for the high-precision drive for coreless DC motors.

Key words: coreless DC motor, current ripple, component commutation, adaptive quasi resonant, decoupled extended state observer