【作者】 张杨；

【导师】 杨霞；

【作者基本信息】 沈阳工业大学 ， 控制理论与控制工程， 2013， 硕士

【摘要】 无刷直流电动机既有交流电机的结构简单、运行可靠、维护方便等特点,又有直流电机的运行效率高、无励磁损耗以及调速性能好等特点,且控制方法灵活多变,因此得到越来越广泛的应用。控制精度、稳定性和抗干扰能力是衡量系统整体性能高低的重要因素,而要使系统有较高的控制精度、稳定性和较强的抗干扰能力,控制方法的选择至关重要。为了进一步优化电机的控制性能,有必要设计合适的控制器且优化控制器参数。在工业生产过程中，PID控制是迄今为止应用最广泛的一种控制算法。传统的PID控制算法简单、鲁棒性好和可靠性高，适用于可建立精确数学模型的确定性控制系统。但是，在现代工业生产过程中，经常会遇到时滞环节，而时滞的存在严重影响了系统的稳定性，导致系统的超调量变大，调节时间变长，甚至出现振荡、发散，从而使得系统的动态品质大大下降。对于无刷直流电动机是一个多变量、非线性、时变、强耦合的复杂系统,如果仍然使用常规的PID控制器，则较难整定PID参数，从而难以满足动态响应及高性能、高精度的要求。针对这一问题，本文设计了一种双模切换控制器，即模糊PID控制和滑模变结构控制相结合的智能控制方法。这种控制方式，在实现减少抖振的同时，不仅对模型的不确定性和外部扰动具有较强的鲁棒性，而且具有快速收敛性和高稳速控制精度，能够满足无刷直流电机的控制要求。最后，用TMS320LF2407A DSP对电机的调速系统进行设计，包括系统的硬件和软件设计。同时在Matlab/Simulink平台上进行仿真，仿真结果不但验证了这种双模切换控制器的控制性能比PID控制强，而且具有快速响应、低超调和良好的稳定性，表明本文提出的方案是可行的，控制器设计合理，具有一定实用价值。更多还原

【Abstract】 Brushless DC motor not only has characteristics of simple structure, reliable operationand easy maintenance like AC motor, but also has features of high operating efficiency, noexcitation loss and good speed control performance like DC motor, meanwhile, it hasflexible control method. Therefore it is used more widely. Control accuracy, stability andanti-jamming capability is an important factor to measure the level of overall systemperformance, and to make the system has high control accuracy, stability and stronganti-interference ability, the choice of control method is very important. In order to furtheroptimize the motor control performance, it is necessary to design appropriate controllerand reasonable controller parameters.In the industrial production process, the PID control is a control algorithm which isthe most widely used by far. The traditional PID control has simple algorithm, goodrobustness and high reliability, which is applicable to build the deterministic controlsystem of an accurate mathematical model. However, in modern industrial productionprocess, the system often meet delay link, and delay seriously affects the stability ofsystem, which leads to big change of system overshoot, the lengthening regulating time,even appear oscillation, divergent, and make the system dynamic quality drop greatly.Brushless DC motor is a complex system which is multi-variable, nonlinear, time-varying,and strong coupling. If still using the conventional PID controller, it is more difficult toadjust the PID parameters, which is difficult to meet the dynamic response and requirementof high performance and high precision. In order to solve this problem, this thesis designs adual mode switch controller, which is intelligent control method of combination of fuzzyPID control and sliding mode variable structure control. This control mode, realizingreducing chattering at the same time, not only has strong robustness to the modeluncertainty and external disturbance, but also has fast convergence and higher controlaccuracy, which can satisfy the control requirement of brushless DC motor.Finally, the brushless DC motor control system will be designed, which is based on TMS320LF2407A DSP of TI Company, including the system hardware and softwaredesign. At the same time, in the Maltab/Simulink platform, the simulation result not onlydemonstrates that the intelligent control is better than the PID, and the former hascharacteristics of the faster response speed, smaller overshoot, and better stability, andshow that the proposed scheme is feasible, and controller design is reasonable, and it hascertain practical value.更多还原