无刷直流电机双闭环模糊自适应控制方法研究

摘要

Based on the mathematical model of brushless direct current motor, double closed loops control method was proposed. Current loop is the inner loop of system and PI control is adopted. Speed loop is the outer loop and PI control combined with fuzzy control is adopted, that is fuzzy adaptive control. Take speed error and speed error derivative as the input of fuzzy controller. Fuzzy control strategy is adopted to enhance the system response speed and robustness when the speed error is big. PI strategy is adopted to make the system have no steady-state error when the speed error is small. Simulation and experimental results show that double closed loops fuzzy adaptive control system has good dynamic and static performance, and strong robustness compared with traditional PI control system.%在分析无刷直流电机数学模型的基础上,提出了一种双闭环模糊自适应控制方法.该控制系统是以电流环作为内环,采用传统的PI控制;转速环作为外环,采用PI控制与模糊控制相结合的方法,即模糊自适应控制方法.以速度误差及速度误差变化率作为模糊控制器的输入,大偏差时采用模糊控制,以增强系统的响应速度和鲁棒性;小偏差时采用传统的PI控制,使系统稳态无误差.仿真实验结果表明,相比于传统的PI控制系统,模糊双闭环自适应控制系统具有良好的动、静态特性,以及较强的鲁棒性.