基于DSP的无刷直流电机模糊PI控制系统研究
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摘要
无刷直流电机利用电子换相代替机械换相,克服了传统直流电机由于电刷摩擦而产生的一系列问题,并且具有调速性能好、体积小、效率高等优点,因而广泛应用于国民经济生产的各个领域以及人们的日常生活中。
在无刷直流电机的控制策略方面,基于智能控制思想的模糊控制最大特点是不依赖于被控对象模型,而是利用所制定的模糊控制规则进行推理以获得合适的控制量。但是模糊控制方法不含积分环节,稳态误差很难消除,所以本控制系统将传统PI控制与模糊控制相结合,以期获得良好的动、静态性能。
文章在分析无刷直流电机数学模型的基础上,在Matlab环境下建立了控制系统的仿真模型,并对系统进行了仿真。仿真结果表明模糊PI控制系统响应速度快、超调小、稳态性能好,这是单纯的PI控制难以实现的。
在仿真实验的基础上,设计了基于DSP(ADMC 401)的转速、电流双闭环的无刷直流电机控制系统。系统采用调节端电压的方法实现对电机转速的控制,其中电流采用传统PI调节,转速采用模糊PI控制。相对于参数固定的传统PI控制器,模糊PI控制器可以根据被控对象的当前状态在线调整控制器参数K_p、K_i,提高了系统的控制性能。
在对硬件部分和软件部分进行调试后,对控制系统进行了实验,通过实验波形,进一步验证了模糊PI控制相对于传统PI控制的优越性。本文最后对整个系统的设计进行了总结,并对无刷直流电机模糊PI控制技术存在的问题和后续的研究工作提出了自己的见解。
The brushless DC motor (BLDCM) adopts electronic commutation instead of mechanical one, which overcomes a series of disadvantages of the traditional DC motor caused by the brush friction. Furthermore, with many advantages such as good speed regulating performance, small volume and high efficiency, it is widely applied to every field of national industry and people's daily lives.
In terms of control strategy of BLDCM, the most obvious characteristic of the fuzzy control which is based on intelligent control is that it doesn't rely on the object model, but utilizes the rules set by fuzzy control to make reasoning in order to get proper control value. However, it is difficult to eliminate the steady-state error with fuzzy control, because it doesn't contain integral units. Therefore, this control system combines the traditional PI control with fuzzy control, expecting to obtain better dynamic and static performance.
Based on BLDCM's mathematical model, the simulation model of control system is build, and simulated in Matlab Environment. The simulation results indicate that the Fuzzy-PI control system has fast dynamic response, smal overshoot and excellent reliability.
Based on the simulation, the current and speed double closed loop control system of BLDCM based on ADMC401 is deigned. The speed regulation is realised by adjusting the terminal voltage of the motor. In this system current is regulated by PI controller and speed is regulated by Fuzzy-PI controller. Compared with classical PI controller of which the parameters are fixed, Fuzzy-PI controller can regulate the parameters on-line according to current status of object controlled, and the control performance could be enhanced.
After the hardware and software of the system have been debugged, the experiment is carried out, and the advantage of Fuzzy-PI control over classical PI control is further verified by the experimental figure. The entire system is evaluated in the end, and opinions on the existing problems of BLDCM's Fuzzy-Pi control technique and further studies are put forward.
在无刷直流电机的控制策略方面,基于智能控制思想的模糊控制最大特点是不依赖于被控对象模型,而是利用所制定的模糊控制规则进行推理以获得合适的控制量。但是模糊控制方法不含积分环节,稳态误差很难消除,所以本控制系统将传统PI控制与模糊控制相结合,以期获得良好的动、静态性能。
文章在分析无刷直流电机数学模型的基础上,在Matlab环境下建立了控制系统的仿真模型,并对系统进行了仿真。仿真结果表明模糊PI控制系统响应速度快、超调小、稳态性能好,这是单纯的PI控制难以实现的。
在仿真实验的基础上,设计了基于DSP(ADMC 401)的转速、电流双闭环的无刷直流电机控制系统。系统采用调节端电压的方法实现对电机转速的控制,其中电流采用传统PI调节,转速采用模糊PI控制。相对于参数固定的传统PI控制器,模糊PI控制器可以根据被控对象的当前状态在线调整控制器参数K_p、K_i,提高了系统的控制性能。
在对硬件部分和软件部分进行调试后,对控制系统进行了实验,通过实验波形,进一步验证了模糊PI控制相对于传统PI控制的优越性。本文最后对整个系统的设计进行了总结,并对无刷直流电机模糊PI控制技术存在的问题和后续的研究工作提出了自己的见解。
The brushless DC motor (BLDCM) adopts electronic commutation instead of mechanical one, which overcomes a series of disadvantages of the traditional DC motor caused by the brush friction. Furthermore, with many advantages such as good speed regulating performance, small volume and high efficiency, it is widely applied to every field of national industry and people's daily lives.
In terms of control strategy of BLDCM, the most obvious characteristic of the fuzzy control which is based on intelligent control is that it doesn't rely on the object model, but utilizes the rules set by fuzzy control to make reasoning in order to get proper control value. However, it is difficult to eliminate the steady-state error with fuzzy control, because it doesn't contain integral units. Therefore, this control system combines the traditional PI control with fuzzy control, expecting to obtain better dynamic and static performance.
Based on BLDCM's mathematical model, the simulation model of control system is build, and simulated in Matlab Environment. The simulation results indicate that the Fuzzy-PI control system has fast dynamic response, smal overshoot and excellent reliability.
Based on the simulation, the current and speed double closed loop control system of BLDCM based on ADMC401 is deigned. The speed regulation is realised by adjusting the terminal voltage of the motor. In this system current is regulated by PI controller and speed is regulated by Fuzzy-PI controller. Compared with classical PI controller of which the parameters are fixed, Fuzzy-PI controller can regulate the parameters on-line according to current status of object controlled, and the control performance could be enhanced.
After the hardware and software of the system have been debugged, the experiment is carried out, and the advantage of Fuzzy-PI control over classical PI control is further verified by the experimental figure. The entire system is evaluated in the end, and opinions on the existing problems of BLDCM's Fuzzy-Pi control technique and further studies are put forward.
引文
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[3]胡问静,永磁无刷直流电动机的发展及展望[J],微电机,2002,35(4):37-38
[4]Teck-Seng Low,Mohammed Jabbar,Azizur Rahman,"Permanent-Magnet Motors for Brushless Operation"[J],IEEE Trans.Industry Applications,vol.26,no.1,1990,pp.124-129
[5]丁志刚,无刷直流电动机的研究和发展进展[J],微电机,2000,25(1):29-30
[6]Pragasen Pillay,Ramu Krishnan,"Application Characteristics of Permanent Magnet Synchronous and Brushless dc Motors for Servo Drives"[J],IEEE Trans.Industry Applications,vol.27,no.5,1991,pp.609-616
[7]牛海清、谢运祥,无刷直流电动机及其控制技术的发展[J],微电机,2002,16(5):36-38
[8]沈建新,永磁无刷直流电动机特殊绕组结构及无位置传感器控制的研究[D],浙江大学博士论文,1997
[9]Kenichi Iizuka,Hideo Uzuhashi,Minoru Kano,Tsunehir Oendo,"Microcomputer Control for Sensorless Brushless Motor"[J],IEEE Trans.Industry Applications,vol.21,no.4,1985,pp.595-601
[10]韦锐、任军军、张仲超,三次谐波检测无刷直流电机转子位置的研究[J],中国屯机工程学报,2004,24(5):163-167
[11]S.Ogasawara,H.Akagi,"An approach to position sensorless drive for brushless dc motors"[J],IEEE Trans.Industry Applications,vol.27,no.4,1991,pp.928-933
[12]Tae-Hyung Kim,Mehrdad Ehsani,"Sensorless control of the BLDC motors from near-zero to high speed"[J],IEEE Trans.Power Electronics,vol.19,no.6,2004,pp.1635-1649
[13]Yong Liu,Zi Qiang Zhu,David Howe,"Instantaneous torque estimation in sensorless direct-torque-controlled brushless DC motors"[J],IEEE Trans.Industry Applications,vol.42,no.5,2006,pp.1275-1283
[14]G.K.Chang,H.L.Joong,"A commutation torque minimization method for brushless DC motors with trapezoidal electromotive force"[C],International conference for Physical Educators,1998,pp.476-481
[15]王兴华、励庆孚、王署鸿,永磁无刷直流电机换相转矩波动的分析研究[J],西安交通大学学报,2003,37(6):612-616
[16]Y.Murai,Y.Kawase,K.Ohashi,"Torque ripple improvement for brushless DC miniature motors"[J],IEEE Trans.Industry Applications,vol.25,no.3,1989,pp.441-449
[17]H.S.Joong,C.Lck,"Commutation torque ripple reduction in brushless DC motor drives using a single DC current sensor"[J],IEEE Trans.Power Electronics,vol.19,no.2,2004,pp.312-319
[18]Ki-Yong Nam,Woo-Taik Lee,Choon-Man Lee,Jung-Pyo Hong,"Reducing torque ripple of brushless DC motor by varying input voltage"[J],IEEE Trans.Magnetics,vol.42,no.4,2006,pp.1307-1310
[19]包晓明、刘国海、贾洪平、周华伟、陈奇,模糊PID控制在无刷直流电机调速系统中的应用[J],微电机,2007,30(11):70-75
[20]刘国海、戴先中,直接转矩控制系统的神经网络控制[J],电工技术学报,2001,16(3):13-17
[21]Ahmed Rubaai,Daniel Ricketts,M.David Kankam,"Experimental verification of a hybrid fuzzy control strategy for a high-performance brushless DC drive system"[J],IEEE Trans.Industry Applications,vol.37,no.2,2001,pp.503-512
[22]Libin Wang,Hui Li,Yongkui Sun,"Fuzzy control based on self-adjusted parameter for brushless DC motor"[C],Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation,Harbin,China, 2007,pp.674-678
[23]夏长亮、文德、范娟、杨晓军,基于RBF神经网络的无刷直流电机无位置传感器控制技术学报[J],2002,17(3):25-29
[24]Long Bo,Zhoubao Bin,Yang Hua,Jiang Hui,"Driving and regenerating fuzzy-sliding mode controller design of electric vehicle"[C],Proceedings of the 2007 Second IEEE Conference on Industrial Electronics and Applications,2007,pp.1804-1807
[25]Ahmed Rubaai,Abdul Ofoli,Donatus Cobbinah,"DSP based real-time implementation of an adaptive fuzzy controller for the tracking control of servo-motor drives"[J],IEEE Trans.Industry Applications,vol.26,no.2,2005,pp.1317-1323
[26]Hongwei Fang,Changliang Xia,Jie Xiu,"Research on the perturbation stability margin when the controller is fixed intelligent control and automation"[C],The Sixth World.Congress on Intelligent Control and Automation,2006,pp.2131-2135
[27]尹衍辰、范瑜,基于DSP的永磁无刷直流电机控制器设计[J],微电机,2005,25(2):56-60
[28]黄守道、魏彦,永磁无刷电动机的技术发展及应用[J],大众用电,2002,12(2):50-55
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