In order to eliminate torque ripple caused by commutation of BLDCM(brushless direct current motor),an active disturbance rejection controller is used to eliminate the overshoot of speed response,meanwhile its self-extending state observer is used to detect the phase current tipple of system and own nonlinear state feedback control law is used to compensate and offset the error values of detected current tipple so as to achieve the effect of suppressing the phase current tipple and suppress the torque tipple as well.The simulation results show that the active disturbance rejection control can suppress torque tipple better than PI control and improve the stability of speed and the reliability of the system.%针对无刷直流电机换相时产生的转矩脉动,采用自抗扰控制技术设计出一种自抗扰控制器来消除转速响应的超调,同时通过自身的扩张状态观测器检测系统的相电流脉动和自身的非线性状态反馈控制律对检测到的电流脉动误差值进行补偿抵消,以达到抑制相电流脉动的效果,从而抑制电机的转矩脉动.仿真结果表明,自抗扰控制比PI控制能更好地抑制转矩脉动,提高电机转速的稳定性和系统的可靠性.
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