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# 惯性变化时无刷直流电机的鲁棒控制器设计

(2)干扰抑制性能：输出速度(ωr)对负载干扰(tl)应该不敏感，即若参考输入速度(ωr*)为0，当系统加上负载转矩后，应有：

(14)
3.3 独立参数的选择

q的选择必须满足上述的约束条件以减小转矩脉动，q一般具有以下形式：
(15)

4 仿真结果及分析

1/j=5(kg·m2)-1，b/j=0.002(sec)-1，kt=0.4v/(rad/s)

4 结束语

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[2] 吴志瑜, 赵晓蓓, 刘爱军等.无刷直流电动机位置伺服系统的变结构控制[j].微特电机,2006,34⑴:28-31.
[3] 赵学庆, 张国山, 陈学敏. 无刷直流电动机调速系统的模糊变结构控制[j].微特电机, 2006,34(7):20-22.
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