基于模糊规则的无刷直流电机免疫PID控制

Control of Brushless DC Motors Using Fuzzy Set Based Immune Feedback PID Controller

无刷直流电机(Brushless DC Motor,BLDCM)是一种多变量、非线性的控制系统,采用经典的PID控制难以得到满意的控制效果。本文提出了一种新型的基于模糊规则的免疫PID控制器用于无刷直流电机的转速控制中。这种免疫PID控制根据T细胞的生物免疫反馈机理,包括决定应答速度的激活环节和决定稳定效果的抑制环节。用模糊规则来逼近其中的抑制环节,并与PID结合补偿其控制偏差。系统采用双闭环控制,内环为电流环,外环为速度环。Matlab仿真表明,系统超调量小,速度响应快,而且速度响应受电机参数变化影响小,各种外界干扰也得到了很好的抑制,具有较高的控制精度和较好的鲁棒性。通过以TI公司的TMS320F2812 DSP为基础进行的实验可以看出,较之传统PID控制,采用免疫PID控制在无刷直流电机的实时控制中取得了较好的实验效果,具有较好的动态和静态性能。

As brushless DC motor （BLDCM） is a multi-variable and non-linear system,using conventional PID control can not obtain satisfied control effect. In this paper,an immune feedback PID controller based on fuzzy model is presented,and the controller is applied into the BLDCM speed control. This novel controller is inspired by the biological immune feedback mechanism based on the functioning of T-cells,including an active term,which controls response speed,and an inhibitive term,which controls stabilization effect,and a fuzzy logic to implement the inhibitive term is applied. At last,with PID control the system can not only be self-tuned but also without static error. The system includes current and speed closed loops. The simulation illustrates that excellent flexibility and adaptability as well as high precision and good robustness are obtained by the proposed strategy. At last,a digital signal processor （DSP） TMS320F2812 is used in the experiment to prove both the excellent static and dynamic performance.