DC brushless motor speed regulation method based on fuzzy PI-PD control

Abstract

The invention relates to a DC brushless motor speed regulation method based on fuzzy PI-PD control, which comprises the establishment of a model and a speed regulation method. The establishment of a model comprises a two-stage fuzzy controller, wherein first-stage fuzzy control regulates parameters of a PI controller in real time, and second-stage fuzzy control regulates a scaling factor outputtedby the first-stage fuzzy controller. The speed regulation method comprises the steps of firstly performing comparative calculation on the actual speed n of a motor and the given speed nr to obtain afinal deviation e and a deviation change rate ec, fuzzifying the above two deviations in a fuzzy controller 1, giving the fuzzified final deviation E and deviation change rate EC to the fuzzy controller to carry out the reasoning work so as to obtain de-fuzzified k1p and k1i, obtaining k2p and k2i by adopting the same method in a fuzzy controller 2, then multiplying the output of the two fuzzy controller, inputting the result into the PI controller, and finally inputting into the DC brushless motor model through PD control regulation so as to achieve a purpose of controlling the motor speed. In addition, the fuzzy control adopted by the invention does not depend on an accurate mathematical model of the controlled motor, thereby being more stable in the control state, and being capable of effectively suppressing a non-linear condition of the controlled motor; and in the control process, the self-tuning of the fuzzy PI-PD can continuously monitor the change of parameters and real-time feedback of the parameters so as to optimize the control effect.

Description

technical field [0001] The invention belongs to the technical field of DC motor speed regulation, and in particular relates to a DC brushless motor speed regulation method based on fuzzy PI-PD control. Background technique [0002] Brushless DC motors have been used in mechanical power equipment, electric vehicles, robots and other fields. However, the brushless DC motor is in a non-linear operating state during the speed regulation process, and the traditional PID control cannot be used to regulate the speed of the DC motor well. [0003] Traditional control strategies, such as PID control, have the advantages of simple structure and easy implementation. Usually, better performance can be obtained in the case of parameter matching, but in the case of system parameter changes or load disturbances, it is often impossible to guarantee ideal closed-loop control. performance. Contents of the invention [0004] In order to solve the above technical problems, the present inven...

AI Technical Summary

Problems solved by technology

However, the brushless DC motor is in a non-linear operating state during the speed regulation process, and the traditional PID control cannot be used to regulate the speed of the DC motor.

[0003] Traditional control strategies, such as PID control, have the advantages of simple structure and easy implementation. Usually, better performance can be obtained in the case of parameter matching, but in the case of system parameter changes or load disturbances, it is often impossible to guarantee ideal closed-loop control. performance

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