无刷直流电机的模糊自整定MRPID转速控制方法研究  

Study on Fuzzy Self-tuning MRPID Control Method in Rotating Speed Control of BLDCM

作　　者：唐伟 王立忠 庄健 王庭凯 TANG Wei;WANG Lizhong;ZHUANG Jian;WANG Tingkai(State Key Laboratory for Manufacturing Systems Engineering,Xi'an Jiaotong University,Xi'an,710049)

机构地区：[1]西安交通大学机械制造系统工程国家重点实验室,西安710049

出　　处：《中国机械工程》2021年第15期1786-1792,1800,共8页China Mechanical Engineering

基　　金：国家自然科学基金(51375363)。

摘　　要：无刷直流电机转速的闭环控制系统中同时存在传感器噪声等高频信号和指令、干扰等低频信号,会导致匀速转动过程中发生速度波动,而同时减少这些不确定因素的影响非常困难。针对此问题,提出了一种模糊自整定的小波多分辨PID(MRPID)控制方法,用于无刷直流电机的转速控制。通过离散小波变换将速度偏差信号进行分解,得到不同频率控制分量;利用模糊控制实现各分量参数的在线整定。与模糊PID控制方法进行对比,在不同工况下进行仿真及实验,结果表明,所提方法能够更好地处理含噪信号,并且具有响应快、抗干扰能力强的优点。It was very difficult to reduce the influences of uncertain factors such as high-frequency signals like sensor noise and low-frequency signals like commands and interferences in a closed-loop control system of BLDCM speeds.And these led to fluctuation of rotating speeds.So a fuzzy self-tuning wavelet MRPID control method was proposed to solve this problem.The errors of rotational speeds were decomposed into layers including high frequency,intermediate frequency and low frequency components by discrete wavelet transform(DWT).Then the gain of each component was adjusted by fuzzy controller.At last,the performance of the proposed fuzzy self-tuning MRPID controller was evaluated in both of simulation and experiments under different dynamic operating conditions as taking the traditional PID controller as a comparison.The capabilily of processing noisy signals as well as fast response and good robustness of the proposed fuzzy self-tuning MRPID controller was verified by the results of simulation and experiments.

关 键 词：无刷直流电机 转速控制 小波多分辨比例、积分和微分 模糊自整定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]