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无刷直流电动机被控过程具有很大的时变不确定性和高度非线性,采用常规PID控制方法存在参数优化困难、负载适应力差等缺点。发挥模糊控制对系统参数变化有较强鲁棒性的优势,在传统PID算法的基础上设计了一种模糊PID控制器,自动调整控制参数,获得最佳的过程响应。确定了控制器参数自整定原则,建立了输入输出变量隶属函数以及模糊控制规则表。基于Matlab软件建立了无刷直流电动机转速、电流双闭环控制系统的仿真模型,通过仿真比对分析了传统PID与模糊PID控制时电动机转速、转矩和电流波形。结果表明,采用模糊PID控制使系统响应速度加快,动态过程、静态特性及鲁棒性能变得更好。
Brushless DC motor controlled process has great time-varying uncertainty and high nonlinearity. The conventional PID control method has the disadvantages of parameter optimization and poor load adaptability. The fuzzy control has the advantage of strong robustness to system parameter changes. Based on the traditional PID algorithm, a fuzzy PID controller is designed to automatically adjust the control parameters and obtain the best response to the process. The principle of self-tuning of the controller parameters is established, and the membership function of the input and output variables and the fuzzy control rules table are established. Based on Matlab software, a simulation model of the speed and current double closed-loop control system of brushless DC motor is established. By comparing the simulation results, the motor speed, torque and current waveforms of the traditional PID and fuzzy PID control are analyzed. The results show that using fuzzy PID control to make the system response faster, the dynamic process, static characteristics and robustness become better.