【摘要】：在工業(yè)控制中,電機(jī)是伺服系統(tǒng)中的最常見(jiàn)的被控對(duì)象,無(wú)刷直流電機(jī)因其優(yōu)勢(shì)應(yīng)用也越來(lái)越廣泛。對(duì)于一些常見(jiàn)的時(shí)不變被控對(duì)象,常規(guī)的PID控制,般都能取得良好的控制效果。然而無(wú)刷直流電機(jī)是一個(gè)非線性,強(qiáng)耦合時(shí)變的被控對(duì)象,所以傳統(tǒng)的PID并不適合應(yīng)用在高精度控制系統(tǒng)當(dāng)中。本文根據(jù)前人的研究將模糊控制和PID控制兩者結(jié)合起來(lái)使用,設(shè)計(jì)了一個(gè)模糊自適應(yīng)PID控制系統(tǒng),并搭建了系統(tǒng)仿真平臺(tái),驗(yàn)證其效果。 本文首先介紹了無(wú)刷直流電機(jī)及控制方法,并分析了電機(jī)轉(zhuǎn)子位置檢測(cè)方法和工作原理。傳統(tǒng)的檢測(cè)方法是通過(guò)內(nèi)置的傳感器實(shí)現(xiàn)的,但它的壽命短易受干擾。無(wú)位置傳感器電路簡(jiǎn)單,主要由軟件算法實(shí)現(xiàn),不僅可以簡(jiǎn)化電機(jī)的結(jié)構(gòu),也提高了系統(tǒng)的穩(wěn)定性。根據(jù)不同類型的無(wú)位置傳感器檢測(cè)方法,從原理分析出發(fā),比較各自的優(yōu)缺點(diǎn),最終選用反電動(dòng)勢(shì)法來(lái)檢測(cè)轉(zhuǎn)子位置。該方法原理簡(jiǎn)單,易于實(shí)現(xiàn)。 然后,針對(duì)傳統(tǒng)PID控制方法存在的缺點(diǎn),將模糊控制與PID控制結(jié)合起來(lái),提出了模糊自適應(yīng)PID控制器。此系統(tǒng)以輸入的誤差和誤差變化率作為輸入,PID的各項(xiàng)修正系數(shù)作為輸出,并且根據(jù)PID參數(shù)調(diào)節(jié)規(guī)則來(lái)設(shè)計(jì)模糊系統(tǒng)的控制規(guī)則。 最后,在MATLAB仿真環(huán)境中,構(gòu)建了系統(tǒng)仿真平臺(tái),仿真結(jié)果顯示模糊自適應(yīng)PID控制方案是可行的,同時(shí)驗(yàn)證了模糊自適應(yīng)PID控制相比傳統(tǒng)的PID控制,具有較好的響應(yīng)速度,超調(diào)量小,穩(wěn)定性好。
[Abstract]:In industrial control, motor is the most common controlled object in servo system, and brushless DC motor is more and more widely used because of its advantages. For some common time-invariant objects, conventional PID control can achieve good control effect. However, brushless DC motor is a nonlinear and strongly coupled time-varying controlled object, so the traditional PID is not suitable for high precision control system. In this paper, a fuzzy adaptive PID control system is designed based on the combination of fuzzy control and PID control, and a system simulation platform is built to verify its effectiveness. In this paper, the brushless DC motor and its control method are introduced, and the rotor position detection method and working principle are analyzed. The traditional detection method is implemented by the built-in sensor, but its short life is easily disturbed. The sensorless circuit is simple and mainly realized by software algorithm. It not only simplifies the structure of the motor, but also improves the stability of the system. According to different kinds of sensorless detection methods, the advantages and disadvantages of each method are compared, and the rotor position is detected by the method of backEMF. This method is simple in principle and easy to implement. Then, aiming at the shortcomings of the traditional PID control method, a fuzzy adaptive PID controller is proposed by combining fuzzy control with PID control. In this system, the input error and error rate are taken as input, the correction coefficients of PID are taken as the output, and the control rules of fuzzy system are designed according to the regulation rules of PID parameters. Finally, in the MATLAB simulation environment, the system simulation platform is constructed. The simulation results show that the fuzzy adaptive PID control scheme is feasible. At the same time, the fuzzy adaptive PID control has a better response speed than the traditional PID control. Small overshoot, good stability.
【學(xué)位授予單位】：安徽理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM33

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 楊影;陶生桂;;基于磁鏈函數(shù)的無(wú)刷直流電機(jī)轉(zhuǎn)子位置檢測(cè)法研究[J];變流技術(shù)與電力牽引;2007年03期

2 夏長(zhǎng)亮;方紅偉;;永磁無(wú)刷直流電機(jī)及其控制[J];電工技術(shù)學(xué)報(bào);2012年03期

3 堵杰,孫承波,陳國(guó)呈;無(wú)刷直流電動(dòng)機(jī)換相過(guò)程中續(xù)流對(duì)電壓和電流的影響[J];電工技術(shù)雜志;2002年03期

4 萬(wàn)文斌;黃夫陽(yáng);;無(wú)刷直流電機(jī)無(wú)位置傳感器的一種新型控制方案[J];電機(jī)技術(shù);2006年01期

5 張相軍,陳伯時(shí);無(wú)刷直流電機(jī)控制系統(tǒng)中PWM調(diào)制方式對(duì)換相轉(zhuǎn)矩脈動(dòng)的影響[J];電機(jī)與控制學(xué)報(bào);2003年02期

6 吳春華,孫承波,張龍,陳國(guó)呈;無(wú)刷直流電機(jī)廣角波控制方法的研究[J];電力電子技術(shù);2005年03期

7 韓京清;從PID技術(shù)到“自抗擾控制”技術(shù)[J];控制工程;2002年03期

8 韓京清;;自抗擾控制技術(shù)[J];前沿科學(xué);2007年01期

9 吳紅星;葉宇驕;倪天;郭慶波;;無(wú)刷直流電機(jī)轉(zhuǎn)子位置檢測(cè)技術(shù)綜述[J];微電機(jī);2011年08期

10 林明耀,李強(qiáng),楊沛騏;無(wú)位置傳感器無(wú)刷直流電機(jī)轉(zhuǎn)子位置檢測(cè)誤差分析及其補(bǔ)償[J];微特電機(jī);2003年06期

，

本文編號(hào)：2421635