基于线性二次最优控制的无刷直流电机控制器研究

Research on a brushless DC motor controller based on linear quadratic optimal control

无刷直流电机(Brushless DC Motor)在电动工具、设备、汽车和医疗等各行业运用普遍。文章依据无刷直流电机相关方程给出了状态空间表达式。采用线性二次最优控制(LQR),在Simulink中搭建模型,进行调速控制;然后与经典PID控制对比。仿真结果表明,LQR控制下系统速度响应上升时间和调节时间分别为0.041s和0.056s,相比于PID控制分别减少了0.121s和0.166s。受到干扰时,LQR控制下系统上升时间和调节时间分别比PID控制下减少0.122s和0.177s。故本文所选取的方法和故障模型是可行有效的。

Brushless DC motor is widely used in electric tools, equipment, automobile, medical and other industries. The state space expression is given according to the relevant equations of Brushless DC motor. Linear quadratic optimal control is adopted to build a model in Simulink for speed regulation control. Then it is compared with the classical PID control. The simulation results show that the speed response rise time and regulation time of the system under LQR control are 0.041 s and 0.056 s respectively, which are reduced by 0.121 s and 0.166 s compared with PID control. When disturbed, the rise time and regulation time of the system under LQR control are reduced by 0.122 s and 0.177 s respectively compared with those under PID control. Therefore, the method and fault model selected in this paper are feasible and effective.