为解决有刷直流电机低速扰动严重、控制精度低和传统传感器可靠性较差的问题，本文设计一套高精度扰动补偿与智能切换式无感检测控制系统。系统采用摩擦前馈、二阶扩张状态观测器（Extended State Observer，ESO）、自适应滑模控制的组合方案抑制多源扰动，结合最小二乘—自适应卡尔曼滤波复合算法，搭配工况智能切换实现无感测速。基于 dSPACE 平台开展试验，结果表明：本系统稳态误差为传统 PI 控制的46%、传统滑模控制的 63%，响应时间≤ 0.15 s；稳定工况下无感检测误差不超过 1.2%，动态精度与全阶卡尔曼滤波持平，计算资源消耗降低 82.7%，可实现全工况无传感器高精度起动调速。

To address the problems of severe low-speed disturbances, low control accuracy, and poor reliability of traditional sensors in brushed DC motors, this paper designs a high-precision disturbance compensation and intelligent switching-type non-invasive detection control system. The system employs a combination of friction feedforward, secondorder Extended State Observer (ESO), and adaptive sliding mode control to suppress multi-source disturbances. Combined with the least squares-adaptive Kalman filtering composite algorithm and the intelligent switching of operating conditions, it achieves non-invasive speed measurement. Experiments were conducted on the dSPACE platform, and the results show that the steady-state error of this system is 46% of that of traditional PI control and 63% of that of traditional sliding mode control. The response time is ≤ 0.15 s. Under stable operating conditions, the non-invasive detection does not exceed 1.2%, and the dynamic accuracy is on par with full-order Kalman filtering. The computational resource consumption is reduced by 82.7%, enabling full-condition sensorless high-precision starting and speed regulation.