基于专家PID的直流无刷电机控制系统  

Brushless DC motor control system based on expert PID

作　　者：张浩[1] 吴新开[1] 

机构地区：[1]湖南科技大学信息与电气工程学院,湖南湘潭411201

出　　处：《电气传动自动化》2015年第4期14-16,11,共4页Electric Drive Automation

基　　金：全国大学生研究性学习和创新性实验计划项目(104-143101)

摘　　要：由于直流无刷电机存在时变性、非线性、不确定性、难以建模等特点,采用常规的PID很难达到理想的控制效果。通过专家PID控制理论并结合实践研究,提出一种高性能的速度控制方案。基于多旋翼飞行器常用的无刷电机转速控制这一实验平台,采用编码器测速实现无刷电机的闭环控制。无刷电机速度PID控制器的引入,开辟了多旋翼飞行器电机控制和姿态控制的新思路。The brushless DC motor has the characteristics of time varing, noniiner, uncertainty and hardly modeling, so it is difficult to obtain ideal control effect by using conventional PID control. It is hoped to find a high-performance speed eontrol scheme through the theory and practical research of expert PID. Based on the experiment platform of commonly used brushless motor speed control for multi rutor aircraft, the encoder is applied to measure the rotational speed and realize its closed-loop control. The introduction of brushless motor speed PID controller has opened up new ideas for motor control and attitude control of muhi rotor aircraft.

关 键 词：无刷电机测速 非线性 鲁棒性 专家PID控制 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]