低速位置伺服系统中的非线性摩擦力、参数摄动以及外部扰动等因素都会降低系统的精度.本文对无刷直流电机低速位置伺服控制方法进行了研究.简要介绍了自抗扰控制器,利用Stribeck摩擦模型和二阶自抗扰控制器构建位置伺服系统并确定控制器参数,最后与PD控制和滑模控制进行比较仿真实验.实验结果表明,基于自抗扰控制的低速位置伺服系统具有较好的动态和稳态性能,对系统内部参数摄动和外部扰动以及非线性摩擦都具有很强的鲁棒性. Low-speed position servo system nonlinear friction, parameter perturbation and external disturbances and other factors will reduce the system accuracy.In this paper, brushless DC motor low-speed position servo control method is briefly introduced the automatic disturbance rejection controller, the use of Stribeck friction model and second-order automatic disturbance rejection controller to build the position servo system and to determine the controller parameters.Finally, the simulation experiments are carried out with PD control and sliding mode control.Experimental results show that the low-speed position servo system based on ADRC Good dynamic and steady-state performance, the internal system parameters perturbation and external perturbation and nonlinear friction have strong robustness.