基于变系数PID的无刷直流电动机双闭环系统

摘要

A variable coefficient proportion integration differentiation（PID）algorithm used in the position loop was proposed and analyzed in the control system of electrical dual-redundancy brushless DC torque motor used in the direct drive valve.The steady-state error of the system was eliminated quickly by enhancing the influence of proportion regulator and integrator gradually according to the position deviation.The integration of position error was limited to ensure the system＇s stability.Experimental results show that the variable coefficient PID algorithm used in the position loop can ensure the system＇s stability and the accuracy of the position response,whatever the inner loop uses current loop or velocity loop.For the same step response,the step rise time of the double closed loop structure of the position and current reduced more than 32% compared with that of the double closed loop structure of the position and velocity.However,the double closed-loop structure of position/velocity loop performs strong loading appliance and strong robustness.%针对应用于直接驱动阀的电气双余度无刷直流力矩电动机控制系统,提出在位置环采用变系数PID（Proportion Integration Differentiation）控制算法,根据位置偏差改变调节参数,逐步加强比例和积分作用以快速消除系统稳态误差而又不引起系统抖动;为了保证系统的稳定性,对位置偏差的积分项进行了限制.实验结果表明：位置环采用该变系数PID控制算法的双闭环系统能够有效地保证系统的稳定性能和响应精度.同幅值的位置阶跃响应,位置环/电流环双闭环系统的上升时间比位置环/速度环双闭环系统的上升时间减小了32%;位置环/速度环双闭环系统具有优良的负载适应性能,鲁棒性强.