无刷直流电机无位置传感器控制及四开关逆变器控制研究
|
摘要
无刷直流电机具有调速范围宽、功率密度高、电磁污染小、运行可靠等显著优点,在伺服控制、电动车辆、机器人技术及家用电器等工业和民用领域得到了越来越广泛的应用。为进一步提高其性能,本文主要从无位置传感器控制、新型逆变器拓扑结构控制及智能控制等方面进行了深入研究。
为提高无刷直流电机无位置传感器控制的可靠性,本文分析了线反电势与换相时刻对应关系,对传统反电势法进行了改进,研究了无需移相π/3电角度的无刷直流电机转子位置检测方法。通过总结线反电势变化规律、提出新的线反电势检测方法及对滤波误差相移补偿,实现了基于线反电势的无刷直流电机无位置传感器控制,并进行了仿真和实验验证。该策略硬件电路结构简单,算法易于实现,避免了传统反电势法在移相π/3电角度过程中带来的误差,提高了位置检测的快速性与准确度。
随着无刷直流电机的广泛应用,越来越多的学者关注于维持电机高性能的同时降低驱动系统成本。针对无刷直流电机的四开关逆变器拓扑结构,本文分析了电机C相电流与电机工作模式的关系,通过重新设计控制策略,改进了对四开关逆变器控制需要检测两相电流的方法,实现了基于C相电流的四开关逆变器无刷直流电机单电流传感器控制。该策略在四开关逆变器基础上,进一步节省了成本,同时保证了电机的性能,为无刷直流电机控制技术的发展提供了新的思路。
传统的PID控制算法在控制非线性系统时随动性差,不易满足高精度伺服系统的控制要求。本文研究了基于小脑模型神经网络与PID复合控制的智能控制系统,通过小脑模型神经网络强大的映射能力,来实现参数的在线调节,使无刷直流电机在不同的运行环境下都能快速、准确的跟踪给定指令。仿真与实验结果表明,控制系统兼顾了常规控制器快速性及智能控制器精确性的优点,转速超调量小,调节时间短,有效的抑制了负载扰动的影响,具有较好的静态和动态性能。
电梯门机是无刷直流电机驱动系统的一个应用方向,为提高电梯门机的安全性与舒适性,本文设计了无位置传感器控制的无刷直流电机电梯门机控制系统。该系统以TMS320F2812 DSP数字信号处理器为控制核心,主要包括电源电路、驱动电路、逆变器、信号检测与保护电路、光耦隔离电路等部分。系统实现了电梯门机的门宽自学习、平滑变速门机运行曲线及遇阻安全保护等功能,节省了成本,减小了开关门噪音,提高了运行可靠性。
Brushless DC (BLDC) motor has found widespread applications in the fields of servo systems, electrical vehicle, robot control and household appliance etc, due to its extensive speeding range, high power density, light electromagnetic pollution and high reliability. To further improve performance of BLDC motor drive, the thesis makes deep investigations on the following aspects, including intelligent control, sensorless control and new topological structure of inverter.
To improve the reliability of sensorless BLDC motor drive, relationship between line back EMF and commutation instant is analyzed to improve ordinary back-EMF method, and a novel rotor position detection method withoutπ/3 phase angle shift is proposed. Position detecting circuit is improved, commutation rules are re-arranged and error from filtering is compensated. It can be drawn from simulation and experimental results that the method avoids the error introduced by phase shifting of measured signals, and improve precision and rapidity of position detection. .
Recently, cost reduction of BLDC motor drive has drawn more and more attention of researchers. Four-switch inverter can reduce cost of drivers by replacing power devices with capacitors. This work designs four-switch inverter for three phase BLDC motor. The relationship between current of phase C and working mode of motor is analyzed. Control strategy based on two phase current measurement is improved. A novel control strategy based on single current sensor is proposed and implemented for four-switch three phase BLDC motor drive. The proposed method achieves good performance with reduced cost, which proves it a new valuable research direction.
Despite its simplicity and good steady performance, traditional PID controller could hardly meet the requirement of precision and fast responding when used in controlling nonlinear system. In this work, a novel approach of compound control for BLDC motor using Cerebella Model Neural Network controller and PID strategy is proposed and researched. Based on strong mapping capability of neural network, the parameters of controller can be adjusted online so that the motor speed can track reference value very fast and exactly under different working conditions. Simulation and experiment results prove that the proposed intelligent controller has excellent dynamic and steady performance with very short setting time, extremely reduced overshot, and dramatically restrained effect of load disturbance.
Elevator door drive is one of important applications of BLDC motor. A sensorless BLDC motor control system is designed for it in this work. The system uses TMS320F2812 DSP as core control unit, and includes power circuits, drive circuits, inverter, signal measurement circuits, protection circuits, optically coupled isolation circuits, and so on. The major functions, such as self-learning of door width, smooth track of speed reference curve, and protective action when blocked, are totally implemented with reduced cost, low noise, and high operational reliability.
为提高无刷直流电机无位置传感器控制的可靠性,本文分析了线反电势与换相时刻对应关系,对传统反电势法进行了改进,研究了无需移相π/3电角度的无刷直流电机转子位置检测方法。通过总结线反电势变化规律、提出新的线反电势检测方法及对滤波误差相移补偿,实现了基于线反电势的无刷直流电机无位置传感器控制,并进行了仿真和实验验证。该策略硬件电路结构简单,算法易于实现,避免了传统反电势法在移相π/3电角度过程中带来的误差,提高了位置检测的快速性与准确度。
随着无刷直流电机的广泛应用,越来越多的学者关注于维持电机高性能的同时降低驱动系统成本。针对无刷直流电机的四开关逆变器拓扑结构,本文分析了电机C相电流与电机工作模式的关系,通过重新设计控制策略,改进了对四开关逆变器控制需要检测两相电流的方法,实现了基于C相电流的四开关逆变器无刷直流电机单电流传感器控制。该策略在四开关逆变器基础上,进一步节省了成本,同时保证了电机的性能,为无刷直流电机控制技术的发展提供了新的思路。
传统的PID控制算法在控制非线性系统时随动性差,不易满足高精度伺服系统的控制要求。本文研究了基于小脑模型神经网络与PID复合控制的智能控制系统,通过小脑模型神经网络强大的映射能力,来实现参数的在线调节,使无刷直流电机在不同的运行环境下都能快速、准确的跟踪给定指令。仿真与实验结果表明,控制系统兼顾了常规控制器快速性及智能控制器精确性的优点,转速超调量小,调节时间短,有效的抑制了负载扰动的影响,具有较好的静态和动态性能。
电梯门机是无刷直流电机驱动系统的一个应用方向,为提高电梯门机的安全性与舒适性,本文设计了无位置传感器控制的无刷直流电机电梯门机控制系统。该系统以TMS320F2812 DSP数字信号处理器为控制核心,主要包括电源电路、驱动电路、逆变器、信号检测与保护电路、光耦隔离电路等部分。系统实现了电梯门机的门宽自学习、平滑变速门机运行曲线及遇阻安全保护等功能,节省了成本,减小了开关门噪音,提高了运行可靠性。
Brushless DC (BLDC) motor has found widespread applications in the fields of servo systems, electrical vehicle, robot control and household appliance etc, due to its extensive speeding range, high power density, light electromagnetic pollution and high reliability. To further improve performance of BLDC motor drive, the thesis makes deep investigations on the following aspects, including intelligent control, sensorless control and new topological structure of inverter.
To improve the reliability of sensorless BLDC motor drive, relationship between line back EMF and commutation instant is analyzed to improve ordinary back-EMF method, and a novel rotor position detection method withoutπ/3 phase angle shift is proposed. Position detecting circuit is improved, commutation rules are re-arranged and error from filtering is compensated. It can be drawn from simulation and experimental results that the method avoids the error introduced by phase shifting of measured signals, and improve precision and rapidity of position detection. .
Recently, cost reduction of BLDC motor drive has drawn more and more attention of researchers. Four-switch inverter can reduce cost of drivers by replacing power devices with capacitors. This work designs four-switch inverter for three phase BLDC motor. The relationship between current of phase C and working mode of motor is analyzed. Control strategy based on two phase current measurement is improved. A novel control strategy based on single current sensor is proposed and implemented for four-switch three phase BLDC motor drive. The proposed method achieves good performance with reduced cost, which proves it a new valuable research direction.
Despite its simplicity and good steady performance, traditional PID controller could hardly meet the requirement of precision and fast responding when used in controlling nonlinear system. In this work, a novel approach of compound control for BLDC motor using Cerebella Model Neural Network controller and PID strategy is proposed and researched. Based on strong mapping capability of neural network, the parameters of controller can be adjusted online so that the motor speed can track reference value very fast and exactly under different working conditions. Simulation and experiment results prove that the proposed intelligent controller has excellent dynamic and steady performance with very short setting time, extremely reduced overshot, and dramatically restrained effect of load disturbance.
Elevator door drive is one of important applications of BLDC motor. A sensorless BLDC motor control system is designed for it in this work. The system uses TMS320F2812 DSP as core control unit, and includes power circuits, drive circuits, inverter, signal measurement circuits, protection circuits, optically coupled isolation circuits, and so on. The major functions, such as self-learning of door width, smooth track of speed reference curve, and protective action when blocked, are totally implemented with reduced cost, low noise, and high operational reliability.
引文
[1]张琛.直流无刷电动机原理及应用[M].北京:机械工业出版社,1996.
[2]刘刚,王志强,房建成.永磁无刷直流电机控制技术及应用[M].北京:机械工业出版社,2008.
[3]夏长亮,李志强,王明超,等.基于RBF神经网络在线辨识的永磁无刷直流电机单神经元PID模型参考自适应控制[J].电工技术学报,2005,20(11):65-69.
[4] Xia C L,Chen W.Sensorless Control of Brushless DC motors at low speed using neural nerworks[C] . IEEE International Conference on Machine Learning and Cybernetics,China,2005,1099-1103.
[5] Li Z Q, Xia C L. Speed control of brushless DC motor based on CMAC and PID controller[C].IEEE Proceedings of the World Congress on Intelligent Control and Automation,China,2006,6318-6322.
[6] Zhang M H, Xia C L. Speed control of Brushless DC motor based on Single neural PID and wavelet neuron network[C].IEEE International Conference on Control and Automation,China,2007,621-624.
[7]亓涛,姚晓东.BP网络在无刷直流电机参数辨识与控制中的应用[J].微电机,2005,38(6):58-60.
[8]夏长亮,俞卫,李志强.永磁无刷直流电机转矩波动的自抗扰控制[J].中国电机工程学报,2006,26(24):137-142.
[9]夏长亮,杨晓军,史婷娜,等.基于鲁棒调节器的无刷直流电机速度控制研究[J].电工电能新技术,2002,21(3):5-8.
[10]蒋海波,崔新艺,曾凌波,等.无刷直流电机模糊控制系统的建模与仿真[J].西安交通大学学报,2005,39(10):1116-1120.
[11]夏长亮,刘丹,王迎发,等.基于模糊规则的无刷直流电机免疫PID控制[J].电工技术学报,2007,22(9):68-73.
[12]瞿少成,王永骥.BLDC位置伺服系统的离散变结构控制[J].中国电机工程学报,2004,24(6):96-99.
[13] Xia C L,Liu J H,Yu W,et al.Variable structure control of BLDCM based on extended state observer[C] . IEEE International Conference on Mechatronics and Automation,Canada,2005,568-571.
[14] Tian Y,Shi T N,Xia C L.Sensorless position control using adaptive wavelet neural network for PM BLDCM[C].IEEE International Symposium on Industrial Electronics,Spain,2007,2848-2852.
[15]李先祥,徐晓增,肖红军.基于小波神经网络控制的无刷直流电机调速系统[J].中国电机工程学报,2005,25(9):126-129.
[16]夏长亮,李正军,杨荣.基于自抗扰控制器的无刷直流电机控制系统[J].中国电机工程学报,2005,25(2):82-86.
[17] Xia C L,Fang H W,Chen W,et al.Ant colony algorithm based fuzzy control for a brushless DC motor[C].IEEE Proceedings of the World Congress on Intelligent Control and Automation,China,2006,6498-6502.
[18]纪志成,沈艳霞,薛花.无刷直流电机自适应模糊控制的研究[J].中国电机工程学报,2005, 25(5): 104-109.
[19]夏长亮,刘均华,俞卫,等.基于扩张状态观测器的永磁无刷直流电机滑模变结构控制[J].中国电机工程学报,2006,26(20):139-143.
[20] Parsa L,Lei H.Interior permanent magnet motors with reduced torque pulsation[J].IEEE Transactions on Industrial Electronics,2008,55(2):602-609.
[21] Kyung C T,Ki K S,Hahn S Y.Optimal pole shape design for the reduction of cogging torque of brushless DC motor using evolution strategy[J].IEEE Transactions on Magnetics,1997,33(2):1908-1911.
[22]王志萍.电动机齿槽力矩的傅立叶分析[J].山西大学学报(自然科学版),2002,25(3):206-207.
[23]邱建琪.永磁无刷直流电动机转矩脉动抑制的控制策略研究[D].浙江:浙江大学博士论文,2005.
[24]付求涯,刘新才.永磁无刷直流电机齿槽转矩的最小化技术[J].特种电机,2003,31(6):10-12.
[25]王兴华,励庆孚,王曙鸿.永磁无刷直流电机负载磁场及其电磁转矩的计算[J].中国电机工程学报,2003,23(4):140-144.
[26]王海峰.无刷直流电机转矩脉动抑制技术的研究[D].西安:西北工业大学博士论文,2003.
[27]邓秋玲,肖锋.无刷直流电动机转矩脉动的探讨[J].湖南工程学院学报:自然科学版,2002,12(4):9-11.
[28]韦鲲.永磁无刷直流电机电磁转矩脉动抑制技术的研究[D].杭州:浙江大学博士学位论文,2005.
[29]王兴华,励庆孚.永磁无刷直流电机磁阻转矩的解析计算方法[J].中国电机工程学报,2002,22(10):104-108.
[30]王兴华,励庆孚.永磁无刷直流电机空载气隙磁场和绕组反电势的解析计算[J].中国电机工程学报,2003,23(3):126-130.
[31]乔鸣忠,魏建华,叶红春.考虑定子斜槽及转子运动的外转子无刷直流电机数值计算[J].大电机技术,2006,2:38-41.
[32]陈世坤.电机设计[M].北京:机械工业出版社,1990.
[33]张相军,雷淮刚.无刷直流电机换相转矩脉动的分析及其补偿方法[J].电工技术杂志,2000,(8):13-15.
[34]罗宏浩,吴峻,赵宏涛,等.永磁无刷直流电机换相控制研究[J].中国电机工程学报,2008,28(24):108-112.
[35]齐蓉,周素莹,林辉,等.无刷直流电机PWM调制方式与转矩脉动关系研究[J].微电机,2006,39(1):58-61.
[36]夏长亮,文德,王娟.基于自适应人工神经网络的无刷直流电机换相转矩波动抑制新方法[J].中国电机工程学报,2002,22(1):54-58.
[37]张晓峰,胡庆波,吕征宇.基于BUCK变换器的无刷直流电机转矩脉动抑制方法[J].电工技术学报,2005,20(9):72-76.
[38]夏长亮,张茂华,王迎发,等.永磁无刷直流电机直接转矩控制[J].中国电机工程学报,2008,28(6):104-109.
[39] Nam K Y,Lee W T,Lee C M,et al.Reducing torque ripple of brushless DC motor by varying input voltage[J].IEEE Transactions on Magnetics,2006,42(4):1307-1310.
[40] Kim D K,Lee K W and Kwon B I.Commutation torque ripple reduction in a position sensorless brushless DC motor drive [J].IEEE Transactions on Power Electronics,2006,22(6):1762-1768.
[41] Kang B H,Kim C J,Mok H S.Analysis of torque ripple in BLDC motor with commutation time[C] . IEEE International Symposium on Industrial Electronics Proceedings,South Korea,2001,1044-1048.
[42]王兴华,励庆孚,王曙鸿,等.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.
[43] Murai Y,Kawase Y,Ohashi K,et al.Torque ripple improvements for brushless DC miniature motors[J] . IEEE Transactions on Industry Applications,1989,25(3):441-450.
[44] Hung J Y,Ding Z.Design of currents to reduce torque ripple in brushless permanent magnet motors[J] . IEE Proceedings-B , Electric Power Applications,1993,140(4):260-266.
[45] Hoang L H,Robert P,Feuillet R.Minimization of torque ripple in brushless DC motor drives[J].IEEE Transactions on Industry Application,1986, 22(4):748-755.
[46] Pillay P,Krishnan R.An investigation into the torque behavior of a brushless DC motor drive[C].IEEE Industry Applications Society Annual Meeting,USA,1988,1:201-208.
[47]张磊,瞿文龙,陆海峰.无刷直流电机换相转矩脉动的抑制[J].电工电能新技术,2005,24(2):20-23,36.
[48]林平,韦鲲,张仲超.新型无刷直流电机换相转矩脉动的抑制控制方法[J].中国电机工程学报,2006,26(3):153-158.
[49]赵学庆,张国山.用模糊控制方法抑制无刷直流电动机换相转矩波动[J].天津大学学报,2006,39(9):1105-1109.
[50]程伟,徐国卿,冯江华,等.基于BP网络的电动汽车用无刷直流电机转矩角控制技术研究[J].电工技术学报,2006,21(3):62-66.
[51]夏长亮,杨晓军.基于扰动观测器的无刷直流电机无位置传感器控制[J].电工技术学报,2002,17(6):25-28.
[52]史婷娜,张倩,夏长亮,等.基于UKF算法的无刷直流电机转子位置和速度的估计[J].天津大学学报,2008,41(3):338-343.
[53]鲁文其,胡育文,黄文新,等.无刷直流电机无位置传感器转子位置自检测复合方法[J].电工技术学报,2008,23(9):70-75,97.
[54]林潇,潘双夏,胡晓杭.一种无位置传感器BLDC零启动的纯硬件实现方法[J].浙江大学学报,2008,42(9):1591-1596.
[55]曹建波,曹秉刚,王斌,等.电动车用无刷直流电机无位置传感器控制研究[J].西安交通大学学报,2008,42(5):597-601.
[56]韦鲲,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].中国电机工程学报,2004,24(5):163-167.
[57] Lai Y S ,Lin Y K.Novel back-EMF detection technique of brushless DC motor drives for wide range control without using current and position sensors[J].IEEE Transactions on Power Electronics,2008,23(2):934-940.
[58]曹建波,曹秉刚,许鹏,等.无位置传感器无刷直流电机转矩脉动抑制研究[J].电机与控制学报,2008,12(3):248-253.
[59]周波,魏佳.反电势逻辑电平积分比较法实现的无刷直流电机无位置传感器控制[J].电工技术学报,2000,15(4):5-9,4.
[60]张磊,瞿文龙,陆海峰,等.一种新颖的无刷直流电机无位置传感器控制系统[J].电工技术学报,2006,21(10):26-30,43.
[61] Ogasawara S, Akagi H.An approach to position sensorless drives for brushless DC motors[C].Conference Record of the 1990 IEEE Industry Applications Society Annual Meeting,USA,1990,1:443-447.
[62]官二勇,宋平岗,余晓毓.基于续流二极管检测法的无刷直流电机[J].防爆电机,2005,(1):24-28.
[63] Ertugrul N,Acarnley P.A new algorithm for sensorless operation of permanent magnet motors[J].IEEE Transactions on Industry Application,1994,30(1):126-133.
[64]董富红,杨春生,王辉.无位置传感器无刷直流电机磁链函数控制方法[J].微电机,2006,39(6):26-27,41.
[65]邓灿,张森林.一种新的无刷直流电机起动方法[J].微电机,2002,35(6):29-31,60.
[66] Kuo J L,Chang Z S.Intelligent sensorless control of two-phase linear brushless DC motor based on a recurrent fuzzy neural network[J].Control and Intelligent Systems,2008,36(2):161-168.
[67]夏长亮,文德,范娟,等.基于RBF神经网络的无刷直流电机无位置传感器控制[J].电工技术学报,2002,17(3):26-29.
[68]夏长亮,王娟,史婷娜,等.无刷直流电机无位置传感器控制下的转矩波动抑制新策略[J].天津大学学报,2005,38(5):432-436.
[69]史婷娜,田洋,夏长亮.基于小波网络的永磁无刷直流电机无位置传感器控制[J].天津大学学报,2007,40(2):190-194.
[70]夏长亮,王娟,史婷娜,等.基于自适应径向基函数神经网络的无刷直流电机直接电流控制[J].中国电机工程学报,2003,23(6):123-127.
[71]张式勤,邱建琪,储俊杰,等.双转式永磁无刷直流电动机的建模与仿真[J].中国电机工程学报,2004,24(12):176-181.
[72]冀溥,宋伟,杨玉波.永磁无刷直流电动机应用概况[J].电机技术,2003,(4):32-36.
[73] Nondahl T A,Ray C,Schmidt P B,et al.A permanent-magnet rotor containing an electrical winding to improve detection of rotor angular position[J].IEEE Transactions on Industry Application,1999,35(4):819–824.
[74] Tomita M,Doki S,Okuma S,et al.Sensorless rotor position estimation at standstill of cylindrical brushless DC motors using opened phase voltage change caused by eddy currents[J].Electrical Engineering,1999,126(1):52-59.
[75]严岚,贺益康,杨德荣.一种复合转子永磁无刷直流电机恒功率弱磁的研究方法[J].中国电机工程学报,2003,23(11):155-159.
[76]罗宏浩,吴峻,常文森.动磁式永磁无刷直流直线电机的齿槽力最小化[J].中国电机工程学报,2007,27(6):12-16.
[77]王凤翔,王继强,孔志国.具有被动式磁力轴承的无刷直流电机研究[J].中国电机工程学报,2004,24(5):90-95.
[78]周波,傅颖,耿云亮,等.绕组互感对C-DUMP变换器供电的无刷直流电机运行特性的影响[J].中国电机工程学报,2001,21(3):30-33.
[79]符强,林辉,贺博,等.无电流传感器的四开关三相无刷直流电机驱动控制新策略[J].中国电机工程学报,2006,26(17):148-l53.
[80] Niasar A H,Moghbeli H,and Vahedi A.A novel sensorless control method for four-switch brushless DC motor drive without using any 30°phase shifter[C] . In Proceedings of IEEE Electrical Machines and Systems Conference,South Korea,2007,408-413.
[81] Lee J H,Kim T S,and Hyun D S.A study for improved of speed response characteristic in four-switch three-phase BLDC motor[C].In Proceedings of IEEE Electrical Machines and Systems Conference,South Korea,2004,2:1339-1343.
[82]沈艳霞,纪志成,姜建国.基于四开关逆变器的无刷直流电机控制[J].电力电子技术,2003,12(6):4-6.
[83]符强,林辉,贺博.四开关三相无刷直流电机的直接电流控制[J].中国电机工程学报,2006,26(4):149-l53.
[84] Lee B K,Kim T H,and Ehsani M.On the feasibility of four-switch three-phase BLDC motor drives for low cost commercial applications:topology and control[J].IEEE Transactions on Power Electronics,2003,18(1):l64-l72.
[85] Niassar A H,Vahedi A,and Moghbelli H.Analysis and control of commutation torque ripple in four-switch three-phase brushless DC motor drive[C].In Proceedings of IEEE Industrial Technology Conference,Mumbai,2006,239-246.
[86] Niasar A H,Moghbeli H,and Vahedi A.Adaptive neuron-fuzzy control with fuzzy supervisory learning algorithm for speed regulation of 4-switch inverter brushless DC machines[C].In Proceedings of IEEE Power Electronics and Motion Control Conference,China,2006,1:1-5.
[87] Lin C T,Hung C W,Liu C W.Position sensorless control for four-switch three-phase brushless DC motor drives[J].IEEE Transactions on Power Electronics,2008,23(1):438-444.
[88] Zhang M H,Xia C L,Tian Y,and Shi T N.Speed control of brushless DC motor based on single neuron PID and wavelet neural network[C].In Proceedings of IEEE Control and Automation Conference,China,2007,617-620.
[89]丁军,徐用懋.单神经元自适应PID控制器及其应用[J].控制工程,2004,11(1):27-30.
[90] Shi T N,Xia C L,Wang M C,and Zhang Q.Single neural PID control for sensorless switched reluctance motor based on RBF neural network[C].In Proceedings of IEEE Intelligent Control and Aotomation Conference,China,2006,2:8069-8073.
[91] Lin C L,Jan H Y,Shieh N C.GA-based multiobjective PID control for a linear brushless DC motor[J].IEEE Transactions on Mechatronics,2003,8(1):56-65.
[92]孙树敏,梁得亮,谢增荣.直线无刷直流电动机单神经元PID控制仿真[J].微电机,2005,38(5):7-9.
[93] Zhu X M,Panda S K,Dash P K,et al.Experimental investigation of variable structural PID control for switched reluctance motor drives[C].International Conference on Power Electronics and Drive Systems 1997,Hong Kong,1997,1:205-210.
[94] Panda S K,Zhu X M,Dash P K.Fuzzy gain scheduled PI speed controller for switched reluctance motor drive[C].IEEE IECON 1997,USA,1997,3:989-994.
[95] Hossain S A,Husain I.Outer loop controller design of a switched reluctance motor driven system[C].Industry Applications Conference 2003,USA,2003,31:486-491.
[96] Albus J S.A theory of intelligent machine system [C].Proceedings IROS’91,Japan,1991,1:3-9.
[97]毛知新,孙炜.模糊CMAC及其在交流伺服控制中的应用[J].电气传动自动化,2003,25(3):34-37.
[98] Pan C T , and Fang E . A phase-locked-loop-assisted internal model adjustable-speed controller for BLDC motors[J].IEEE Transactions on Industrial Electronics,2008,55(19):3415-3425.
[99]焦斌.新型四开关管直流无刷电动机系统的驱动电路[J].中小型电机,2004,31(4):68-71.
[100]叶金虎.现代无刷直流永磁电动机的原理与设计[M].北京:科学出版社,2007.
[101]李钟明,刘卫国,刘景林,等.稀土永磁电机[M].北京:国防工业出版社,1999.
[102]揭贵生,马伟明,耿建明,等.无刷直流电机的一种新型转矩与效率优化控制[J].中国电机工程学报,2006,26(24):131-136.
[103]王莉,曹小庆,张卓然,等.电励磁双凸极无刷直流发电机非线性PI调压技术的研究[J].中国电机工程学报,2006,26(5):153-158.
[104]王晋,陶桂林,周理兵,等.基于换相过程分析的无刷直流电动机机械特性的研究[J].中国电机工程学报,2005,25(14):141-145.
[105]李鲲鹏,胡虔生,黄允凯.计及绕组电感的永磁无刷直流电动机电路模型及其分析[J].中国电机工程学报,2004,24(1):76-80.
[106]杨贵杰,李勇,陆永平,等.永磁感应子式无刷直流电动机的模型及控制[J].中国电机工程学报,2003,23(5):122-127.
[107]韦鲲,林平,熊宇,等.无刷直流电机PWM调制方式的优化研究[J].浙江大学学报(工学版),2005,39(7):1038-1042.
[108]周波,窦森.电子变换器调压的无刷直流发电机PWM控制模式及其对电压脉动的影响[J].中国电机工程学报,2001,21(7):56-60.
[109] Su G J, and Mckeever J W.Low-cost sensorless control of brushless DC motors with improved speed range[J] . IEEE Transactions on Power Electronics,2004,19(2):296-302.
[110]周波,傅颖.无刷直流电机电容储能型变换器的参数设计[J].中国电机工程学报,2000,20(4):72-76.
[111]胡建辉,邹继斌,陈霞.无刷直流电机的理想与非理想定位力矩及其综合抑制方法[J].中国电机工程学报,2005,25(22):153 -157.
[112]曹荣昌.无传感器无刷直流电机最佳触发信号的获取[J].长沙交通学院学报,2002,18(4):12-14 .
[113]纪志成,李晓庆,沈艳霞.无刷直流电机的模型参考模糊自适应方法及实验研究[J].电工技术学报,2006,21(1):75-81.
[114]揭贵生,马伟明.考虑换相时无刷直流电机脉宽调制方法研究[J].电工技术学报,2005,20(9):66-71.
[115]李榕,刘卫国,马瑞卿,等.双余度无刷直流电动机伺服系统电流均衡性研究[J].电工技术学报,2005,20(9):77-81.
[116]林洪怡,孙纯祥,马隽.基于DSP的无刷直流电机锁相稳速系统[J].电力电子技术,2005,39(4):47-49.
[117]姚嘉,刘刚,房建成.磁悬浮控制力矩陀螺用高速高精度无刷直流电机全数字控制系统[J].微电机,2005,38(6):65-67.
[118]黄捷建,吴晓东.永磁无刷直流电机驱动系统及其应用[J].微电机,2005,38(5):28-29.
[119]王海峰,江汉红,陈少昌.基于自适应遗传算法的无刷直流电机模糊滑模控制器设计[J].微电机,2005,38(5):53-56.
[120]程善美,施莹杰,陈志勇.无刷直流电机全范围调速控制策略研究[J].微电机,2005,38(4):56-58.
[121]王群京,姜卫东,赵涛,等.基于小波分析的无刷直流电机PWM生成技术的研究[J].系统仿真学报,2004,16(8):1857-1860.
[122]王宇飞,柴建云,王祥珩.多相永磁无刷直流电机凸极效应的数学模型[J].清华大学学报(自然科学版),2004,44(7):880-882.
[123]纪志成,薛花,董富红.无刷直流电机调速系统间接模型参考自适应控制[J].电机与控制学报,2004,8(3):225-228.
[124]华强,贺益康,严岚.基于DSP的永磁无刷直流电机弱磁控制系统[J].电力电子技术,2004,38(1):13-15.
[125]胡双,马志云,周理兵,等.永磁无刷直流电机系统建模研究[J].电工技术杂志,2003,(8):56-59.
[126]贺益康,严岚.永磁无刷直流电机稳态特性的状态空间分析[J].电工技术学报,2002,17(1):16-22.
[127]石山,励庆孚.基于自适应遗传算法的无刷直流电机的优化设计[J].西安交通大学学报,2002,36(12):1215-1218.
[128]邱建琪,林瑞光.三相三状态无刷直流电机的系统模型及其仿真[J].电机与控制学报,2001,5(4):217-219.
[129]王成元,夏加宽,杨俊友,等.电机现代控制技术[M].北京:机械工业出版社,2006.
[130]夏长亮,郭培健,史婷娜,等.基于模糊遗传算法的无刷直流电机自适应控制[J].中国电机工程学报,2005,25(11):129-133.
[131]方卫中,贺益康.无刷直流电机反电势的人工神经元网络预测[J].微电机,1998,31(2):7-11,24.
[132]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,2006.
[133]谢宝昌,任永德.电机的DSP控制技术及其应用[M].北京:北京航空航天大学出版社,2005.
[134]袁沂辉,龚世缨.基于瞬时无功功率理论的无刷直流电动机弱磁调速[J].微特电机,2005,33(3):5-6,9.
[135]严岚,贺益康.复合转子永磁无刷直流电动机弱磁特性研究[J].电工技术学报,2004,19(3):59-64.
[136]史浩,潘再平.无刷直流电机模糊控制系统及仿真分析[J].微电机,2005,38(5):42-44.
[137]沈建新,吕晓春,杜军红,等.无传感器无刷直流电机三段式起动技术的深入分析[J].微特电机,1998,26(5):8-11.
[138]苏奎峰,吕强,耿庆锋,等.TMS320F2812原理与开发[M].北京:电子工业出版社,2005.
[139] Texas Instruments Incorporated著,刘和平,张卫宁,刘林,等编译.TMS320C28x系列指令和编程指南[M].北京:清华大学出版社,2005.
[140]汪海燕,李娟娟,张敬华.自适应模糊PID控制的无刷直流电机及仿真[J].微电机,2003,36(4):14-18.
[141]王雷,蒋静坪.无刷直流电机自适应补偿最优状态反馈速度控制[J].中国电机工程学报,2008,28(24):101-107.
[142]胡庆波,郑继文,吕征宇.混合动力中无刷直流电机反接制动PWM调制方式的研究[J].中国电机工程学报,2007,27(30):87-91.
[143]李榕,刘卫国,刘向阳,等.永磁无刷直流电机消除逆变换流的弱磁性能研究[J].电工技术学报,2007,22(9):62-67.
[144]高瑾,胡育文,黄文新,等.六边形磁链轨迹的无刷直流电机直接自控制[J].中国电机工程学报,2007,27(15):64-69.
[145]朱平平,高艳霞.无位置传感器无刷直流电机变速控制的新策略[J].电力电子技术,2002,36(2):36-38.[J].微电机,1999,32(2):16-18,47.
[147]夏长亮,杨晓军,史婷娜.无刷直流电机速度观测器的设计[J].微电机,2001,34(6):27-29.
[148]肖本贤,唐宗全,姜宏波.自适应控制在无刷直流电动机调速系统中的应用[J].合肥工业大学学报(自然科学版),1999,22(6):94-97.
[149]邹继斌,徐永向,于成龙.正弦波无刷直流电机的新型转子位置检测方法[J].中国电机工程学报,2002,22(12):47-49,55.
[150]史婷娜,王向超,夏长亮.基于RBF神经网络的永磁同步电机无位置传感器控制[J].电工电能新技术,2007,26(2):16-19(44).
[151] Hung C W,Lin C T,Liu C W,and Yen J Y.A variable-sampling controller for brushless DC motor drives with low-resolution position sensors[J].IEEE Transactions on Industrial Electronics,2007,54(5):2846-2852.
[152] Rajagopalan S,Aller J M,Restrepo J A,Habetler T G,and Harley R G . Analytic-wavelet-ridge-based detection of dynamic eccentricity in brushless direct current (BLDC) motors functioning under operating conditions[J].IEEE Transactions on Industrial Electronics,2007,54(3):1410-1419.
[153] Jung D H,and Ha I J.Low-cost sensorless control of brushless DC motors using a frequency-independent phase shifter[J].IEEE Transactions on Power Electronics,2000,15(4):744-752.
[154] Fang H W,Xia C L,Chen Z W,et al.Position servo control of brushless DC motor based on the second discrete filter[C].IEEE International Conference on Robotics and Biomimetics,China,2007,1838-1842.
[155] Fu Q,Lin H,and Zhang H T.Single-current-sensor sliding mode driving strategy for four-switch three-phase brushless DC motor[C].In Proceedings of IEEE Industrial Technology Conference,Mumbai,2006,2396-2401.
[156] Liu Y,Zhu Z Q,Howe D.Direct torque control of brushless DC drives with reduced torque ripple[J].IEEE Transactions on Industry Application,2005,41(2):599-608.
[157] Lee K W,Kim D K,Kim B T,and Kwon B I.A novel starting method of the surface permanent-magnet BLDC motors without position sensor for reciprocating compressor[J].IEEE Transactions on Industry Applications,2008,44(1):85-92.
[2]刘刚,王志强,房建成.永磁无刷直流电机控制技术及应用[M].北京:机械工业出版社,2008.
[3]夏长亮,李志强,王明超,等.基于RBF神经网络在线辨识的永磁无刷直流电机单神经元PID模型参考自适应控制[J].电工技术学报,2005,20(11):65-69.
[4] Xia C L,Chen W.Sensorless Control of Brushless DC motors at low speed using neural nerworks[C] . IEEE International Conference on Machine Learning and Cybernetics,China,2005,1099-1103.
[5] Li Z Q, Xia C L. Speed control of brushless DC motor based on CMAC and PID controller[C].IEEE Proceedings of the World Congress on Intelligent Control and Automation,China,2006,6318-6322.
[6] Zhang M H, Xia C L. Speed control of Brushless DC motor based on Single neural PID and wavelet neuron network[C].IEEE International Conference on Control and Automation,China,2007,621-624.
[7]亓涛,姚晓东.BP网络在无刷直流电机参数辨识与控制中的应用[J].微电机,2005,38(6):58-60.
[8]夏长亮,俞卫,李志强.永磁无刷直流电机转矩波动的自抗扰控制[J].中国电机工程学报,2006,26(24):137-142.
[9]夏长亮,杨晓军,史婷娜,等.基于鲁棒调节器的无刷直流电机速度控制研究[J].电工电能新技术,2002,21(3):5-8.
[10]蒋海波,崔新艺,曾凌波,等.无刷直流电机模糊控制系统的建模与仿真[J].西安交通大学学报,2005,39(10):1116-1120.
[11]夏长亮,刘丹,王迎发,等.基于模糊规则的无刷直流电机免疫PID控制[J].电工技术学报,2007,22(9):68-73.
[12]瞿少成,王永骥.BLDC位置伺服系统的离散变结构控制[J].中国电机工程学报,2004,24(6):96-99.
[13] Xia C L,Liu J H,Yu W,et al.Variable structure control of BLDCM based on extended state observer[C] . IEEE International Conference on Mechatronics and Automation,Canada,2005,568-571.
[14] Tian Y,Shi T N,Xia C L.Sensorless position control using adaptive wavelet neural network for PM BLDCM[C].IEEE International Symposium on Industrial Electronics,Spain,2007,2848-2852.
[15]李先祥,徐晓增,肖红军.基于小波神经网络控制的无刷直流电机调速系统[J].中国电机工程学报,2005,25(9):126-129.
[16]夏长亮,李正军,杨荣.基于自抗扰控制器的无刷直流电机控制系统[J].中国电机工程学报,2005,25(2):82-86.
[17] Xia C L,Fang H W,Chen W,et al.Ant colony algorithm based fuzzy control for a brushless DC motor[C].IEEE Proceedings of the World Congress on Intelligent Control and Automation,China,2006,6498-6502.
[18]纪志成,沈艳霞,薛花.无刷直流电机自适应模糊控制的研究[J].中国电机工程学报,2005, 25(5): 104-109.
[19]夏长亮,刘均华,俞卫,等.基于扩张状态观测器的永磁无刷直流电机滑模变结构控制[J].中国电机工程学报,2006,26(20):139-143.
[20] Parsa L,Lei H.Interior permanent magnet motors with reduced torque pulsation[J].IEEE Transactions on Industrial Electronics,2008,55(2):602-609.
[21] Kyung C T,Ki K S,Hahn S Y.Optimal pole shape design for the reduction of cogging torque of brushless DC motor using evolution strategy[J].IEEE Transactions on Magnetics,1997,33(2):1908-1911.
[22]王志萍.电动机齿槽力矩的傅立叶分析[J].山西大学学报(自然科学版),2002,25(3):206-207.
[23]邱建琪.永磁无刷直流电动机转矩脉动抑制的控制策略研究[D].浙江:浙江大学博士论文,2005.
[24]付求涯,刘新才.永磁无刷直流电机齿槽转矩的最小化技术[J].特种电机,2003,31(6):10-12.
[25]王兴华,励庆孚,王曙鸿.永磁无刷直流电机负载磁场及其电磁转矩的计算[J].中国电机工程学报,2003,23(4):140-144.
[26]王海峰.无刷直流电机转矩脉动抑制技术的研究[D].西安:西北工业大学博士论文,2003.
[27]邓秋玲,肖锋.无刷直流电动机转矩脉动的探讨[J].湖南工程学院学报:自然科学版,2002,12(4):9-11.
[28]韦鲲.永磁无刷直流电机电磁转矩脉动抑制技术的研究[D].杭州:浙江大学博士学位论文,2005.
[29]王兴华,励庆孚.永磁无刷直流电机磁阻转矩的解析计算方法[J].中国电机工程学报,2002,22(10):104-108.
[30]王兴华,励庆孚.永磁无刷直流电机空载气隙磁场和绕组反电势的解析计算[J].中国电机工程学报,2003,23(3):126-130.
[31]乔鸣忠,魏建华,叶红春.考虑定子斜槽及转子运动的外转子无刷直流电机数值计算[J].大电机技术,2006,2:38-41.
[32]陈世坤.电机设计[M].北京:机械工业出版社,1990.
[33]张相军,雷淮刚.无刷直流电机换相转矩脉动的分析及其补偿方法[J].电工技术杂志,2000,(8):13-15.
[34]罗宏浩,吴峻,赵宏涛,等.永磁无刷直流电机换相控制研究[J].中国电机工程学报,2008,28(24):108-112.
[35]齐蓉,周素莹,林辉,等.无刷直流电机PWM调制方式与转矩脉动关系研究[J].微电机,2006,39(1):58-61.
[36]夏长亮,文德,王娟.基于自适应人工神经网络的无刷直流电机换相转矩波动抑制新方法[J].中国电机工程学报,2002,22(1):54-58.
[37]张晓峰,胡庆波,吕征宇.基于BUCK变换器的无刷直流电机转矩脉动抑制方法[J].电工技术学报,2005,20(9):72-76.
[38]夏长亮,张茂华,王迎发,等.永磁无刷直流电机直接转矩控制[J].中国电机工程学报,2008,28(6):104-109.
[39] Nam K Y,Lee W T,Lee C M,et al.Reducing torque ripple of brushless DC motor by varying input voltage[J].IEEE Transactions on Magnetics,2006,42(4):1307-1310.
[40] Kim D K,Lee K W and Kwon B I.Commutation torque ripple reduction in a position sensorless brushless DC motor drive [J].IEEE Transactions on Power Electronics,2006,22(6):1762-1768.
[41] Kang B H,Kim C J,Mok H S.Analysis of torque ripple in BLDC motor with commutation time[C] . IEEE International Symposium on Industrial Electronics Proceedings,South Korea,2001,1044-1048.
[42]王兴华,励庆孚,王曙鸿,等.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.
[43] Murai Y,Kawase Y,Ohashi K,et al.Torque ripple improvements for brushless DC miniature motors[J] . IEEE Transactions on Industry Applications,1989,25(3):441-450.
[44] Hung J Y,Ding Z.Design of currents to reduce torque ripple in brushless permanent magnet motors[J] . IEE Proceedings-B , Electric Power Applications,1993,140(4):260-266.
[45] Hoang L H,Robert P,Feuillet R.Minimization of torque ripple in brushless DC motor drives[J].IEEE Transactions on Industry Application,1986, 22(4):748-755.
[46] Pillay P,Krishnan R.An investigation into the torque behavior of a brushless DC motor drive[C].IEEE Industry Applications Society Annual Meeting,USA,1988,1:201-208.
[47]张磊,瞿文龙,陆海峰.无刷直流电机换相转矩脉动的抑制[J].电工电能新技术,2005,24(2):20-23,36.
[48]林平,韦鲲,张仲超.新型无刷直流电机换相转矩脉动的抑制控制方法[J].中国电机工程学报,2006,26(3):153-158.
[49]赵学庆,张国山.用模糊控制方法抑制无刷直流电动机换相转矩波动[J].天津大学学报,2006,39(9):1105-1109.
[50]程伟,徐国卿,冯江华,等.基于BP网络的电动汽车用无刷直流电机转矩角控制技术研究[J].电工技术学报,2006,21(3):62-66.
[51]夏长亮,杨晓军.基于扰动观测器的无刷直流电机无位置传感器控制[J].电工技术学报,2002,17(6):25-28.
[52]史婷娜,张倩,夏长亮,等.基于UKF算法的无刷直流电机转子位置和速度的估计[J].天津大学学报,2008,41(3):338-343.
[53]鲁文其,胡育文,黄文新,等.无刷直流电机无位置传感器转子位置自检测复合方法[J].电工技术学报,2008,23(9):70-75,97.
[54]林潇,潘双夏,胡晓杭.一种无位置传感器BLDC零启动的纯硬件实现方法[J].浙江大学学报,2008,42(9):1591-1596.
[55]曹建波,曹秉刚,王斌,等.电动车用无刷直流电机无位置传感器控制研究[J].西安交通大学学报,2008,42(5):597-601.
[56]韦鲲,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].中国电机工程学报,2004,24(5):163-167.
[57] Lai Y S ,Lin Y K.Novel back-EMF detection technique of brushless DC motor drives for wide range control without using current and position sensors[J].IEEE Transactions on Power Electronics,2008,23(2):934-940.
[58]曹建波,曹秉刚,许鹏,等.无位置传感器无刷直流电机转矩脉动抑制研究[J].电机与控制学报,2008,12(3):248-253.
[59]周波,魏佳.反电势逻辑电平积分比较法实现的无刷直流电机无位置传感器控制[J].电工技术学报,2000,15(4):5-9,4.
[60]张磊,瞿文龙,陆海峰,等.一种新颖的无刷直流电机无位置传感器控制系统[J].电工技术学报,2006,21(10):26-30,43.
[61] Ogasawara S, Akagi H.An approach to position sensorless drives for brushless DC motors[C].Conference Record of the 1990 IEEE Industry Applications Society Annual Meeting,USA,1990,1:443-447.
[62]官二勇,宋平岗,余晓毓.基于续流二极管检测法的无刷直流电机[J].防爆电机,2005,(1):24-28.
[63] Ertugrul N,Acarnley P.A new algorithm for sensorless operation of permanent magnet motors[J].IEEE Transactions on Industry Application,1994,30(1):126-133.
[64]董富红,杨春生,王辉.无位置传感器无刷直流电机磁链函数控制方法[J].微电机,2006,39(6):26-27,41.
[65]邓灿,张森林.一种新的无刷直流电机起动方法[J].微电机,2002,35(6):29-31,60.
[66] Kuo J L,Chang Z S.Intelligent sensorless control of two-phase linear brushless DC motor based on a recurrent fuzzy neural network[J].Control and Intelligent Systems,2008,36(2):161-168.
[67]夏长亮,文德,范娟,等.基于RBF神经网络的无刷直流电机无位置传感器控制[J].电工技术学报,2002,17(3):26-29.
[68]夏长亮,王娟,史婷娜,等.无刷直流电机无位置传感器控制下的转矩波动抑制新策略[J].天津大学学报,2005,38(5):432-436.
[69]史婷娜,田洋,夏长亮.基于小波网络的永磁无刷直流电机无位置传感器控制[J].天津大学学报,2007,40(2):190-194.
[70]夏长亮,王娟,史婷娜,等.基于自适应径向基函数神经网络的无刷直流电机直接电流控制[J].中国电机工程学报,2003,23(6):123-127.
[71]张式勤,邱建琪,储俊杰,等.双转式永磁无刷直流电动机的建模与仿真[J].中国电机工程学报,2004,24(12):176-181.
[72]冀溥,宋伟,杨玉波.永磁无刷直流电动机应用概况[J].电机技术,2003,(4):32-36.
[73] Nondahl T A,Ray C,Schmidt P B,et al.A permanent-magnet rotor containing an electrical winding to improve detection of rotor angular position[J].IEEE Transactions on Industry Application,1999,35(4):819–824.
[74] Tomita M,Doki S,Okuma S,et al.Sensorless rotor position estimation at standstill of cylindrical brushless DC motors using opened phase voltage change caused by eddy currents[J].Electrical Engineering,1999,126(1):52-59.
[75]严岚,贺益康,杨德荣.一种复合转子永磁无刷直流电机恒功率弱磁的研究方法[J].中国电机工程学报,2003,23(11):155-159.
[76]罗宏浩,吴峻,常文森.动磁式永磁无刷直流直线电机的齿槽力最小化[J].中国电机工程学报,2007,27(6):12-16.
[77]王凤翔,王继强,孔志国.具有被动式磁力轴承的无刷直流电机研究[J].中国电机工程学报,2004,24(5):90-95.
[78]周波,傅颖,耿云亮,等.绕组互感对C-DUMP变换器供电的无刷直流电机运行特性的影响[J].中国电机工程学报,2001,21(3):30-33.
[79]符强,林辉,贺博,等.无电流传感器的四开关三相无刷直流电机驱动控制新策略[J].中国电机工程学报,2006,26(17):148-l53.
[80] Niasar A H,Moghbeli H,and Vahedi A.A novel sensorless control method for four-switch brushless DC motor drive without using any 30°phase shifter[C] . In Proceedings of IEEE Electrical Machines and Systems Conference,South Korea,2007,408-413.
[81] Lee J H,Kim T S,and Hyun D S.A study for improved of speed response characteristic in four-switch three-phase BLDC motor[C].In Proceedings of IEEE Electrical Machines and Systems Conference,South Korea,2004,2:1339-1343.
[82]沈艳霞,纪志成,姜建国.基于四开关逆变器的无刷直流电机控制[J].电力电子技术,2003,12(6):4-6.
[83]符强,林辉,贺博.四开关三相无刷直流电机的直接电流控制[J].中国电机工程学报,2006,26(4):149-l53.
[84] Lee B K,Kim T H,and Ehsani M.On the feasibility of four-switch three-phase BLDC motor drives for low cost commercial applications:topology and control[J].IEEE Transactions on Power Electronics,2003,18(1):l64-l72.
[85] Niassar A H,Vahedi A,and Moghbelli H.Analysis and control of commutation torque ripple in four-switch three-phase brushless DC motor drive[C].In Proceedings of IEEE Industrial Technology Conference,Mumbai,2006,239-246.
[86] Niasar A H,Moghbeli H,and Vahedi A.Adaptive neuron-fuzzy control with fuzzy supervisory learning algorithm for speed regulation of 4-switch inverter brushless DC machines[C].In Proceedings of IEEE Power Electronics and Motion Control Conference,China,2006,1:1-5.
[87] Lin C T,Hung C W,Liu C W.Position sensorless control for four-switch three-phase brushless DC motor drives[J].IEEE Transactions on Power Electronics,2008,23(1):438-444.
[88] Zhang M H,Xia C L,Tian Y,and Shi T N.Speed control of brushless DC motor based on single neuron PID and wavelet neural network[C].In Proceedings of IEEE Control and Automation Conference,China,2007,617-620.
[89]丁军,徐用懋.单神经元自适应PID控制器及其应用[J].控制工程,2004,11(1):27-30.
[90] Shi T N,Xia C L,Wang M C,and Zhang Q.Single neural PID control for sensorless switched reluctance motor based on RBF neural network[C].In Proceedings of IEEE Intelligent Control and Aotomation Conference,China,2006,2:8069-8073.
[91] Lin C L,Jan H Y,Shieh N C.GA-based multiobjective PID control for a linear brushless DC motor[J].IEEE Transactions on Mechatronics,2003,8(1):56-65.
[92]孙树敏,梁得亮,谢增荣.直线无刷直流电动机单神经元PID控制仿真[J].微电机,2005,38(5):7-9.
[93] Zhu X M,Panda S K,Dash P K,et al.Experimental investigation of variable structural PID control for switched reluctance motor drives[C].International Conference on Power Electronics and Drive Systems 1997,Hong Kong,1997,1:205-210.
[94] Panda S K,Zhu X M,Dash P K.Fuzzy gain scheduled PI speed controller for switched reluctance motor drive[C].IEEE IECON 1997,USA,1997,3:989-994.
[95] Hossain S A,Husain I.Outer loop controller design of a switched reluctance motor driven system[C].Industry Applications Conference 2003,USA,2003,31:486-491.
[96] Albus J S.A theory of intelligent machine system [C].Proceedings IROS’91,Japan,1991,1:3-9.
[97]毛知新,孙炜.模糊CMAC及其在交流伺服控制中的应用[J].电气传动自动化,2003,25(3):34-37.
[98] Pan C T , and Fang E . A phase-locked-loop-assisted internal model adjustable-speed controller for BLDC motors[J].IEEE Transactions on Industrial Electronics,2008,55(19):3415-3425.
[99]焦斌.新型四开关管直流无刷电动机系统的驱动电路[J].中小型电机,2004,31(4):68-71.
[100]叶金虎.现代无刷直流永磁电动机的原理与设计[M].北京:科学出版社,2007.
[101]李钟明,刘卫国,刘景林,等.稀土永磁电机[M].北京:国防工业出版社,1999.
[102]揭贵生,马伟明,耿建明,等.无刷直流电机的一种新型转矩与效率优化控制[J].中国电机工程学报,2006,26(24):131-136.
[103]王莉,曹小庆,张卓然,等.电励磁双凸极无刷直流发电机非线性PI调压技术的研究[J].中国电机工程学报,2006,26(5):153-158.
[104]王晋,陶桂林,周理兵,等.基于换相过程分析的无刷直流电动机机械特性的研究[J].中国电机工程学报,2005,25(14):141-145.
[105]李鲲鹏,胡虔生,黄允凯.计及绕组电感的永磁无刷直流电动机电路模型及其分析[J].中国电机工程学报,2004,24(1):76-80.
[106]杨贵杰,李勇,陆永平,等.永磁感应子式无刷直流电动机的模型及控制[J].中国电机工程学报,2003,23(5):122-127.
[107]韦鲲,林平,熊宇,等.无刷直流电机PWM调制方式的优化研究[J].浙江大学学报(工学版),2005,39(7):1038-1042.
[108]周波,窦森.电子变换器调压的无刷直流发电机PWM控制模式及其对电压脉动的影响[J].中国电机工程学报,2001,21(7):56-60.
[109] Su G J, and Mckeever J W.Low-cost sensorless control of brushless DC motors with improved speed range[J] . IEEE Transactions on Power Electronics,2004,19(2):296-302.
[110]周波,傅颖.无刷直流电机电容储能型变换器的参数设计[J].中国电机工程学报,2000,20(4):72-76.
[111]胡建辉,邹继斌,陈霞.无刷直流电机的理想与非理想定位力矩及其综合抑制方法[J].中国电机工程学报,2005,25(22):153 -157.
[112]曹荣昌.无传感器无刷直流电机最佳触发信号的获取[J].长沙交通学院学报,2002,18(4):12-14 .
[113]纪志成,李晓庆,沈艳霞.无刷直流电机的模型参考模糊自适应方法及实验研究[J].电工技术学报,2006,21(1):75-81.
[114]揭贵生,马伟明.考虑换相时无刷直流电机脉宽调制方法研究[J].电工技术学报,2005,20(9):66-71.
[115]李榕,刘卫国,马瑞卿,等.双余度无刷直流电动机伺服系统电流均衡性研究[J].电工技术学报,2005,20(9):77-81.
[116]林洪怡,孙纯祥,马隽.基于DSP的无刷直流电机锁相稳速系统[J].电力电子技术,2005,39(4):47-49.
[117]姚嘉,刘刚,房建成.磁悬浮控制力矩陀螺用高速高精度无刷直流电机全数字控制系统[J].微电机,2005,38(6):65-67.
[118]黄捷建,吴晓东.永磁无刷直流电机驱动系统及其应用[J].微电机,2005,38(5):28-29.
[119]王海峰,江汉红,陈少昌.基于自适应遗传算法的无刷直流电机模糊滑模控制器设计[J].微电机,2005,38(5):53-56.
[120]程善美,施莹杰,陈志勇.无刷直流电机全范围调速控制策略研究[J].微电机,2005,38(4):56-58.
[121]王群京,姜卫东,赵涛,等.基于小波分析的无刷直流电机PWM生成技术的研究[J].系统仿真学报,2004,16(8):1857-1860.
[122]王宇飞,柴建云,王祥珩.多相永磁无刷直流电机凸极效应的数学模型[J].清华大学学报(自然科学版),2004,44(7):880-882.
[123]纪志成,薛花,董富红.无刷直流电机调速系统间接模型参考自适应控制[J].电机与控制学报,2004,8(3):225-228.
[124]华强,贺益康,严岚.基于DSP的永磁无刷直流电机弱磁控制系统[J].电力电子技术,2004,38(1):13-15.
[125]胡双,马志云,周理兵,等.永磁无刷直流电机系统建模研究[J].电工技术杂志,2003,(8):56-59.
[126]贺益康,严岚.永磁无刷直流电机稳态特性的状态空间分析[J].电工技术学报,2002,17(1):16-22.
[127]石山,励庆孚.基于自适应遗传算法的无刷直流电机的优化设计[J].西安交通大学学报,2002,36(12):1215-1218.
[128]邱建琪,林瑞光.三相三状态无刷直流电机的系统模型及其仿真[J].电机与控制学报,2001,5(4):217-219.
[129]王成元,夏加宽,杨俊友,等.电机现代控制技术[M].北京:机械工业出版社,2006.
[130]夏长亮,郭培健,史婷娜,等.基于模糊遗传算法的无刷直流电机自适应控制[J].中国电机工程学报,2005,25(11):129-133.
[131]方卫中,贺益康.无刷直流电机反电势的人工神经元网络预测[J].微电机,1998,31(2):7-11,24.
[132]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,2006.
[133]谢宝昌,任永德.电机的DSP控制技术及其应用[M].北京:北京航空航天大学出版社,2005.
[134]袁沂辉,龚世缨.基于瞬时无功功率理论的无刷直流电动机弱磁调速[J].微特电机,2005,33(3):5-6,9.
[135]严岚,贺益康.复合转子永磁无刷直流电动机弱磁特性研究[J].电工技术学报,2004,19(3):59-64.
[136]史浩,潘再平.无刷直流电机模糊控制系统及仿真分析[J].微电机,2005,38(5):42-44.
[137]沈建新,吕晓春,杜军红,等.无传感器无刷直流电机三段式起动技术的深入分析[J].微特电机,1998,26(5):8-11.
[138]苏奎峰,吕强,耿庆锋,等.TMS320F2812原理与开发[M].北京:电子工业出版社,2005.
[139] Texas Instruments Incorporated著,刘和平,张卫宁,刘林,等编译.TMS320C28x系列指令和编程指南[M].北京:清华大学出版社,2005.
[140]汪海燕,李娟娟,张敬华.自适应模糊PID控制的无刷直流电机及仿真[J].微电机,2003,36(4):14-18.
[141]王雷,蒋静坪.无刷直流电机自适应补偿最优状态反馈速度控制[J].中国电机工程学报,2008,28(24):101-107.
[142]胡庆波,郑继文,吕征宇.混合动力中无刷直流电机反接制动PWM调制方式的研究[J].中国电机工程学报,2007,27(30):87-91.
[143]李榕,刘卫国,刘向阳,等.永磁无刷直流电机消除逆变换流的弱磁性能研究[J].电工技术学报,2007,22(9):62-67.
[144]高瑾,胡育文,黄文新,等.六边形磁链轨迹的无刷直流电机直接自控制[J].中国电机工程学报,2007,27(15):64-69.
[145]朱平平,高艳霞.无位置传感器无刷直流电机变速控制的新策略[J].电力电子技术,2002,36(2):36-38.[J].微电机,1999,32(2):16-18,47.
[147]夏长亮,杨晓军,史婷娜.无刷直流电机速度观测器的设计[J].微电机,2001,34(6):27-29.
[148]肖本贤,唐宗全,姜宏波.自适应控制在无刷直流电动机调速系统中的应用[J].合肥工业大学学报(自然科学版),1999,22(6):94-97.
[149]邹继斌,徐永向,于成龙.正弦波无刷直流电机的新型转子位置检测方法[J].中国电机工程学报,2002,22(12):47-49,55.
[150]史婷娜,王向超,夏长亮.基于RBF神经网络的永磁同步电机无位置传感器控制[J].电工电能新技术,2007,26(2):16-19(44).
[151] Hung C W,Lin C T,Liu C W,and Yen J Y.A variable-sampling controller for brushless DC motor drives with low-resolution position sensors[J].IEEE Transactions on Industrial Electronics,2007,54(5):2846-2852.
[152] Rajagopalan S,Aller J M,Restrepo J A,Habetler T G,and Harley R G . Analytic-wavelet-ridge-based detection of dynamic eccentricity in brushless direct current (BLDC) motors functioning under operating conditions[J].IEEE Transactions on Industrial Electronics,2007,54(3):1410-1419.
[153] Jung D H,and Ha I J.Low-cost sensorless control of brushless DC motors using a frequency-independent phase shifter[J].IEEE Transactions on Power Electronics,2000,15(4):744-752.
[154] Fang H W,Xia C L,Chen Z W,et al.Position servo control of brushless DC motor based on the second discrete filter[C].IEEE International Conference on Robotics and Biomimetics,China,2007,1838-1842.
[155] Fu Q,Lin H,and Zhang H T.Single-current-sensor sliding mode driving strategy for four-switch three-phase brushless DC motor[C].In Proceedings of IEEE Industrial Technology Conference,Mumbai,2006,2396-2401.
[156] Liu Y,Zhu Z Q,Howe D.Direct torque control of brushless DC drives with reduced torque ripple[J].IEEE Transactions on Industry Application,2005,41(2):599-608.
[157] Lee K W,Kim D K,Kim B T,and Kwon B I.A novel starting method of the surface permanent-magnet BLDC motors without position sensor for reciprocating compressor[J].IEEE Transactions on Industry Applications,2008,44(1):85-92.