基于双闭环控制的无刷电机控制系统设计

Design of Brushless Motor Control System Based on Double Closed-Loop Control

无刷电机被广泛应用于农业、医疗、教育等场景,具有高速、寿命长等优势,但在高速环境以及电压采样中相电流与相电压产生的相位差存在精度低、力矩输出不精确等问题。针对上述问题,设计了一种高频的三相电流控制硬件,提出了PI/PD控制结合的方式,构造了PI/PD双闭环反馈控制系统。通过有限差分时间法对系统进行仿真,证明PI/PD可以达到目标的99.91%,并较其他控制方式上均有更好的系统响应以及稳定性能。在硬件测试中,2 500 r/min以内可以在3 s达到目标状态,且绝对误差在3 r/min以内,证明系统具有优异的控制精度、速度以及鲁棒性。

Brushless motors are widely used in agriculture,medical care,education and other scenarios,with the advantages of high speed and long life,but in high-speed environments and voltage sampling,the phase difference between phase current and phase voltage makes brushless motors have problems such as low accuracy and inaccurate torque output.In order to solve the above problems,a high-frequency three-phase current control hardware was designed,the combination of PI/PD control was proposed,and a PI/PD dual closed-loop feedback control system was constructed.The finite difference time method is used to simulate the system,and it is proved that the PI/PD can reach 99.91%of the target,and at the same time,it has better system response and stable performance than other control methods.In the hardware test,the target state can be reached in 3 s within 2500 r/min,and the absolute error is within 3 r/min,which proves that the system has excellent control accuracy,speed and robustness.