基于DSP直流电机模糊免疫PID控制器研究  

Study on Fuzzy Immune PID Controller for DC-motor Based on DSP

作　　者：张小鸣[1] 龙仕玉[1] 

机构地区：[1]常州大学信息科学与工程学院,江苏常州213164

出　　处：《电气传动》2013年第2期65-68,共4页Electric Drive

摘　　要：针对稀土直流伺服电机调速系统参数模型的非线性、时变性的特点,提出一种基于DSP的模糊免疫PID控制器算法,来克服模糊PID控制器鲁棒性差和适应性能差的问题。模糊免疫PID控制器是根据淋巴T细胞的生物免疫反馈机理来实现非线性P控制器,利用模糊推理来逼近非线性函数,并结合PID控制器来消除负载变化或输入变化引起的控制误差。以TI公司的数字信号处理器TMS320LF2407为控制器对稀土直流伺服电机进行控制试验,试验结果经串口上传至PC主机,用基于Labview的主机软件实时显示电机输出响应曲线。系统采用双闭环控制,内环为电流环,外环为位置环。通过试验可以看出,较之模糊PID控制器,当电机在负载下运行时,模糊免疫PID控制器具有较高的控制精度和较好的鲁棒性。For the nonlinearity and time-varying model of rare earth DC servo motor speed control system, an improved fuzzy immune PID controller algorithm based on DSP was proposed to overcome the fuzzy PID controller lack of robustness and adapt. Fuzzy immune PID controller is based on immune lymphatic T cell biological immune feedback mechanism to realize nonlinear P controller, to approximate the nonlinear function adopting fuzzy inference and to eliminate the error control caused by the change of load or input combined with PID controller.Being TI compa- ny＇s digital signal processor TMS320LF2407 as controller, rare earth DC servo motor was controlled with experiments. Tested results are transferred to PC host through serial communication interface. Motor response graphs are displayed in real time using host computer software based on Labview.The system adopts the double closed loop control which the inner loop is current loop, the outer loop is position loop. Through the experiment it can be seen that compared with fuzzy PID controller, fuzzy immune PID controller has the higher control accuracy and better robustness.

关 键 词：模糊免疫PID 数字信号处理器 伺服系统 参数整定 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]