基于模糊自适应PID的无刷直流电机控制器的研究

发布时间：2019-02-13 14:19

【摘要】：在工业控制中,电机是伺服系统中的最常见的被控对象,无刷直流电机因其优势应用也越来越广泛。对于一些常见的时不变被控对象,常规的PID控制,般都能取得良好的控制效果。然而无刷直流电机是一个非线性,强耦合时变的被控对象,所以传统的PID并不适合应用在高精度控制系统当中。本文根据前人的研究将模糊控制和PID控制两者结合起来使用,设计了一个模糊自适应PID控制系统,并搭建了系统仿真平台,验证其效果。本文首先介绍了无刷直流电机及控制方法,并分析了电机转子位置检测方法和工作原理。传统的检测方法是通过内置的传感器实现的,但它的寿命短易受干扰。无位置传感器电路简单,主要由软件算法实现,不仅可以简化电机的结构,也提高了系统的稳定性。根据不同类型的无位置传感器检测方法,从原理分析出发,比较各自的优缺点,最终选用反电动势法来检测转子位置。该方法原理简单,易于实现。然后,针对传统PID控制方法存在的缺点,将模糊控制与PID控制结合起来,提出了模糊自适应PID控制器。此系统以输入的误差和误差变化率作为输入,PID的各项修正系数作为输出,并且根据PID参数调节规则来设计模糊系统的控制规则。最后,在MATLAB仿真环境中,构建了系统仿真平台,仿真结果显示模糊自适应PID控制方案是可行的,同时验证了模糊自适应PID控制相比传统的PID控制,具有较好的响应速度,超调量小,稳定性好。
[Abstract]:In industrial control, motor is the most common controlled object in servo system, and brushless DC motor is more and more widely used because of its advantages. For some common time-invariant objects, conventional PID control can achieve good control effect. However, brushless DC motor is a nonlinear and strongly coupled time-varying controlled object, so the traditional PID is not suitable for high precision control system. In this paper, a fuzzy adaptive PID control system is designed based on the combination of fuzzy control and PID control, and a system simulation platform is built to verify its effectiveness. In this paper, the brushless DC motor and its control method are introduced, and the rotor position detection method and working principle are analyzed. The traditional detection method is implemented by the built-in sensor, but its short life is easily disturbed. The sensorless circuit is simple and mainly realized by software algorithm. It not only simplifies the structure of the motor, but also improves the stability of the system. According to different kinds of sensorless detection methods, the advantages and disadvantages of each method are compared, and the rotor position is detected by the method of backEMF. This method is simple in principle and easy to implement. Then, aiming at the shortcomings of the traditional PID control method, a fuzzy adaptive PID controller is proposed by combining fuzzy control with PID control. In this system, the input error and error rate are taken as input, the correction coefficients of PID are taken as the output, and the control rules of fuzzy system are designed according to the regulation rules of PID parameters. Finally, in the MATLAB simulation environment, the system simulation platform is constructed. The simulation results show that the fuzzy adaptive PID control scheme is feasible. At the same time, the fuzzy adaptive PID control has a better response speed than the traditional PID control. Small overshoot, good stability.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM33

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