稀土永磁无刷直流电机（BLDCM）有着体积小、质量轻、结构简单、功率密

稀土永磁无刷直流电机（BLDCM）有着体积小、质量轻、结构简单、功率密度高，及便于控制等优势，在汽车电子、航空航天以及家电等各个领域中普遍使用。但是在其运行过程中，较易出现由电流换相引起的转矩脉动与抗积分饱和现象，进而制约了其在高性能场合中的普遍使用。因此，文章通过对永磁材料电动机的性能分析，进一步深入研究稀土永磁无刷直流电机的关键控制技术，以提升其动静态性能。
文章首先分析了稀土永磁BLDCM的组成结构、工作原理等，进而有针对性的建立稀土永磁BLDCM的数学模型，再基于其数学模型分别研究了永磁材料与控制方式对BLDCM的性能影响。
其次，文章进一步分析永磁材料对BLDCM性能影响，并详细研究了几种常用永磁材料的特性。针对不同永磁材料电动机的性能进行了比较分析，文章对比分析表明钕铁硼BLDCM在性能上有很大的优势，在此基础上，利用磁路分析法对BLDCM的性能作进一步的分析。
然后，在电机数学模型的基础上，探讨了稀土永磁BLDCM换相转矩的抑制原理，以提出积分变结构转矩脉动抑制关键控制技术来抑制转矩脉动，并设计出了参考电流优化模块、两相导通模式模块、两相开关切换模式模块、三相开关切换模式模块及Luenberger全阶观测器模块等，建立相应地系统模型。实验表明利用积分变结构电流控制器构成的系统对转矩脉动有很好的抑制效果，进而能提高稀土永磁BLDCM的控制性能。
最后，由于在稀土永磁BDLCM积分变结构控制系统中，在换向控制期间，不管是两相开关切换模式还是三相开关切换模式，控制都较易出现饱和限制。鉴于此，对传统PI控制器进行改进，设计一种基于积分变结构的稀土永磁BLDCM新型Anti-windup模型，实验表明在基于积分变结构的稀土永磁BLDCM的新型抗积分饱和PI控制系统中，能有效地降低超调量，电机速度响应速度，大大地提高了其性能。

結果 (中文) 3:

Rare earth permanent magnet brushless DC motor (BLDCM) has a small size, light weight, simple structure, high power density, and easy to control, in the automotive, aerospace and home appliances and other fields widely used. But in the course of its operation, it is easy to appear the torque ripple and anti integral saturation phenomenon caused by the current commutation, which has restricted its general use in high performance occasions. Therefore, through the analysis of the performance of the permanent magnet motor, the key control technology of the rare earth permanent magnet brushless DC motor is further studied in order to improve the dynamic and static performance of the permanent magnet brushless DC motor.At first, this paper analyzes the rare earth permanent magnet BLDCM composition structure, working principle, and to the establishment of rare earth permanent magnet BLDCM mathematical model, based on the mathematical model, were studied permanent magnetic material and control method of BLDCM performance impact.Secondly, the influence of permanent magnetic materials on the performance of BLDCM is analyzed, and the characteristics of several common permanent magnetic materials are studied in detail. According to different permanent magnet motor performance of comparative analysis, comparing the analysis show that the neodymium iron boron BLDCM in performance has great advantages, on the basis of this, using the magnetic circuit analysis method of BLDCM performance for further analysis.Then in based on the mathematical model of the motor, discusses the rare earth permanent magnet BLDCM for phase torque suppression principle, to put forward the integral variable structure torque ripple suppression key control technology to suppress the torque ripple, and designs the reference current optimization module, two-phase conduction mode of communication module, two-phase mode switch module, three-phase switching mode module and Luenberger full order observer module, corresponding system model is established. The experimental results show that the system which is composed of integral variable structure current controller has a good restraining effect on the torque ripple, which can improve the control performance of the rare earth permanent magnet BLDCM.Finally, due to the rare earth permanent magnet BDLCM integral variable structure control system, in the commutation control period, whether it is a two phase switch mode or a three phase switch mode, the control is more prone to saturation limit. In view of this, the traditional PI controller was improved, design a kind of based on integral variable structure of rare earth permanent magnet BLDCM model anti windup model. Experimental results show that based on integral variable structure of rare earth permanent magnet BLDCM new anti windup PI control system, can effectively reduce the overshoot, motor speed response speed, greatly improve the performance.