基于变速积分与微分先行PID的无刷直流电机串级调速控制

Cascade speed control of brushless dc motor based on variable speed integral and differential advanced PID

无刷直流电机具有长寿命、低噪声、高效率及较好的转速-转矩特性等优点在不同领域得到广泛应用.本文将以改进PID对其速度进行调节,采用改进变速积分和微分先行对速度进行调控,改进变速积分可以改变误差的累加速度,误差越大,积分作用就会减小甚至全无;反之积分作用加强.采用微分先行是对输出进行微分,对设定值不进行微分,从而使无刷直流电机的速度变化比较缓和,有效的避免了设定值改变的影响.因此,可以在很大程度上改善无刷直流电机的动态特性.

Brushless DC motor has been widely used in different fields due to its long life,low noise,high efficiency and better speed-torque characteristics.In this paper,the speed of brushless DC motor will be adjusted by improved PID,and the speed will be adjusted by improved variable speed integration and differential first.Improved variable speed integration can change the accumulation speed of errors.The larger the error,the less or no integration effect will be.On the other hand,the integration function is strengthened.The differential first differentiates the output and does not differentiate the set point,thus makingthe speedchange of the brushless DC motor more moderate and effectively avoiding the influence of the change of the set point.Therefore,the dynamic characteristics of the brushless DC motor can be improved to a great extent.