内模PID控制器在无刷直流电机调速系统中的应用

针对无刷直流电机中传统PID控制器参数调节复杂、对环境适应能力较弱等问题,在分析内模控制与经典PID控制的内部对应关系的基础上,综合其优点,设计采用了一种基于内部模型的PID控制器（简称IMC-PID）对无刷直流电机进行调速。在建立对象理论模型的基础上,通过对控制器在线仿真比较表明：针对本设计对象,基于内部模型的PID控制器不论在系统阶跃响应或是扰动跟踪等控制效果上都能到达经典PID控制的要求,同时还降低了参数设计的复杂性和随机性。     

A nonlinear speed control for a PM synchronous motor using a simpledisturbance estimation technique

A nonlinear speed control for a permanent-magnet (PM) synchronous motor using a simple disturbance estimation technique is presented. By using a feedback linearization scheme, the nonlinear motor model can be linearized in the Brunovski canonical form, and the speed controller can be easily designed based on the linearized model. This technique, however, gives an undesirable output performance under the mismatch of the system parameters and load conditions. An adaptive linearization technique and a sliding-mode control technique have been reported. Although good performance can be obtained, the controller designs are quite complex. To overcome this drawback, the controller parameters are estimated by using a disturbance observer theory where the disturbance torque and flux linkage are estimated. Since only the two reduced-order observers are used for the parameter estimation, the observer designs are considerably simple and the computational load of the controller for parameter estimation is negligibly small. The nonlinear disturbances caused by the incomplete linearization can be effectively compensated by using this control scheme. Thus, a desired dynamic performance and a zero steady-state error can be obtained. The proposed control scheme is implemented on a PM synchronous motor using a digital signal processor (TMS320C31) and the effectiveness is verified through the comparative simulations and experiments     

Sensorless PM brushless DC motor drives

To control PM brushless DC motors, position and speed sensors are indispensable because the current should be controlled depending on the rotor position. However, these sensors are undesirable from standpoints of size, cost, maintenance, and reliability. There are different ways of approaching this problem, depending on the flux distribution. The paper presents the speed and position sensorless control of PM brushless DC motors with a sinusoidal flux distribution. Two approaches are presented and compared with each other; one is based on the voltage model of the motor and another is based on the current model. The starting procedure is also a very difficult problem under sensorless drives, because the sensorless drive algorithm uses voltage and current for estimation of rotor position, but no information is available before starting. A novel starting method is presented by using a salient-pole machine. Experimental results based on DSP-TMS320C25 controller are shown for comparisons, which demonstrate desired characteristics both in steady-state and starting conditions     

一种基于分数阶PID直流电机调速的AGV控制系统

为设计一种低成本、抗干扰、稳定可靠的AGV,提出一种基于磁带导航的AGV系统。采用Megawin公司的80C51单片机为控制核心,以并排对称设计的霍尔传感器实现循迹和纠偏,红外光电传感器实现避障,并采用上位机对其进行监控。为达到AGV电机调速的稳定性与实时性,采用分数阶PID算法进行控制,通过Matlab软件进行建模与仿真,验证其可行性。最后,经实际应用场合验证,AGV小车具有抗干扰能力强,避障精度高,运行稳定安全等优点。     

基于串口通信的直流电机PID调速系统设计

为了实现对直流电机快速、准确调速的要求,提出了一种基于串口通信的直流电机PID调速系统设计方案,并实现系统的软硬件设计。采用按键、OLED显示屏等人机交互工具进行参数设置及显示,通过PID控制器闭环反馈控制调节PWM信号,串口与上位机通信实现对数据的客观分析。测试结果表明,该系统具有运行稳定、调速准确、响应时间短等特点,达到了系统设计要求。     

基于模糊自适应PI的无刷直流电机调速系统研究

针对采用传统PI控制算法的无刷直流电机(BLDCM)调速系统存在精度低、抗干扰能力弱等问题,提出一种基于初始比例值优化的模糊自适应PI控制算法。建立BLDCM转速、电流双闭环调速系统数学模型,对其转速环进行模糊自适应PI控制,并提出一种初始比例值优化的方法。应用Matlab/Simulink进行系统设计和仿真,对比传统PI、普通模糊自适应PI和优化后模糊自适应PI三种控制算法的仿真结果。结果表明,优化后的模糊自适应PI控制算法使BLDCM调速系统具有更好的动态性能,达到了较好的控制效果。     

他励直流电动机精确线性化自适应控制

基于他励直流电动机数学模型,研究了输出函数对于非线性控制器设计的影响。通过选择不同输出函数,应用精确线性化理论和极点配置方法,设计了转速状态反馈线性化控制器和输入输出反馈线性化控制器。理论推导发现,输入输出线性化控制器是全局稳定的,而状态反馈线性化控制器由于存在奇点,而不是全局能控的。将两种控制器的控制效果进行仿真对比,结果表明,输入输出反馈线性化控制器与状态反馈线性化控制器相比,控制器结构简单、动态性能好、运行稳定。在输入输出反馈线性化控制器的基础上,设计了输入输出反馈线性化控制器的自适应控制器。仿真结果表明,自适应控制器的抗系统参数变化干扰能力相比于输入输出反馈线性化控制器有明显提高。     

基于L298N的直流电机调速系统的设计与应用

本实验主要研究用无线控制的方式调节激光干涉仪的测量参数,以此实现其高效测量光学样品功能。实验中,直流电机调速系统软件是由TI提供的Basic RF来实现数据接收和发送,硬件是在控制模块与直流电机之间连接一L298N驱动模块,通过无线遥控板向CC2530控制板发送数据来驱动直流电机的转动以及调速,达到其在激光干涉仪中控制调整光学测量环境的重要应用。实验证明:基于L298N的直流电机调速系统可达到无线控制调节激光干涉仪的目的,使得激光干涉仪测量样品更加准确、高效。     

一种直流电动机控制电路的设计

根据脉宽调制（PWM）控制器UC3637及功率驱动放大器IR2110的工作特点,设计一种直流电动机PWM控制电路,详细给出电路原理图及外围电路的设计方法,包括脉宽调制、驱动、检测及保护等电路设计。实验证明,该电路具有良好的调速和驱动性能,可与不同的计算机控制算法相结合,从而实现不同的运动性能。     

一种直流电动机控制电路的设计

根据脉宽调制(PWM)控制器UC3637及功率驱动放大器IR2110的工作特点.设计一种直流电动机PWM控制电路,详细给出电路原理图及外围电路的设计方法,包括脉宽调制、驱动、检测及保护等电路设计.实验证明.该电路具有良好的调速和驱动性能,可与不同的计算机控制算法相结合,从而实现不同的运动性能.     

DSP-based self-tuning IP speed controller with load torquecompensation for rolling mill DC drive

This paper describes the design and the implementation of a self-tuning integral-proportional (IP) speed controller for a rolling mill DC motor drive system, based on a 32-bit floating point digital signal processor (DSP)-TMS 320C30. To get a better transient response than conventional proportional-integral (PI) and/or integral-proportional (IP) speed control in the presence of transient disturbance and/or parameter variations, an adaptive self-tuning IP speed control with load torque feedforward compensation was used. The model parameters, related to motor and load inertia and damping coefficient, were estimated online by using recursive extended least squares (RELS) estimation algorithm. On the basis of the estimated model parameters and a pole-placement design, a control signal was calculated. Digital simulation and experimental results showed that the proposed controller possesses excellent adaptation capability under parameter change and a better transient recovery characteristic than a conventional PI/IP controller under load change     

基于模糊PID控制的龙门刨床直流调速系统设计

为解决龙门刨床拖动控制系统因负载变化或扰动出现时,传统调速系统不能达到预期效果等问题,将模糊PID控制技术运用到龙门刨床电力拖动调速系统中。文章介绍了模糊PID控制算法原理,并采用其控制技术设计了转速调节器。实验和经验表明:该串级调速系统由于采用了模糊PID控制策略,转速调节器的PID参数通过模糊控制规则在线实时调整,系统具有静态精度高、超调量小、响应快速、运行稳定、自适应能力强、鲁棒性能好的特点。     

New self-tuning fuzzy PI control of a novel doubly salient permanent-magnet motor drive

In a doubly salient permanent-magnet (DSPM) motor drive, it is difficult to get satisfied control characteristics by using a normal linear proportional plus integral (PI) controller due to the high nonlinearity between speed and current or torque. Hence, a new self-tuning fuzzy PI controller with conditional integral, which is performed by a single-chip N87C196KD, is proposed. The initial parameters of the controller are optimized by using genetic arithmetic. Simulation and experiments on the newly proposed 8/6-pole DSPM machine have shown that the proposed new self-tuning fuzzy PI controller offers better adaptability than the normal linear PI control and that the developed motor drive offers better steady-state and dynamic performances.     

Induction motor speed control using a microprocessor-based PWMinverter

An MC68000, 16-bit microprocessor system was used to generate pulse-width modulation (PWM) voltage waveforms for a three-phase inverter. An MC6840 programmable timer module (PTM) was used to give real-time PWM voltage waveforms at its three outputs. The MC68000 calculates the width of the pulses for only the first quarter cycle and sorts these into a table. The remaining pulses for the complete cycle are generated using the values of the first quarter because there are conditions of quarter and half-wave symmetry. This results in a considerable saving of microprocessing time. The well-known expressions that define the width of regular sampled PWM pulses were modified to be compatible with the timing system. A real-time method of setting the 120° phase shift between the three phases of the pulses using the PTM was developed and showed a good level of accuracy. The PWM inverter was tested with passive impedance and motor loads. With an induction motor load, harmonics of the stator current and voltage of an order lower than the nineteenth and twenty-third were found to be virtually eliminated. The nineteenth and twenty-third harmonics had the value of 0.09 pu of the current, compared with 0.3 for the voltage, at a depth of modulation of unity     

A variable speed light chopper using a feedback controlled DC motor

A variable speed mechanical light chopper having a chopping frequency range from 10 to 2000 Hz using two chopping blades is described. A small DC motor whose speed can be varied ten fold was used and its speed was maintained constant by feedback control. The chopper has better than 0.l per cent stability and negligible temperature drift. The circuit is simple, inexpensive, and reliable.     

Online rotor resistance estimation using the transient state underthe speed sensorless control of induction motor

In the speed sensorless control of the induction motor, the machine parameters (especially rotor resistance R₂) have a strong influence on the speed estimation. It is known that the simultaneous estimation of the rotor speed and R₂ is impossible in the slip frequency type vector control, because the rotor flux is constant. But the rotor flux is not always constant in the speed transient state. In this paper, the R₂ estimation in the transient state without signal injection to the stator current is proposed. This algorithm uses the least mean square algorithm and the adaptive algorithm, and it is possible to estimate R₂ exactly. This algorithm is verified by the digital simulations and experiments     

Extending the constant power speed range of the brushless DC motor through dual-mode inverter control

An inverter topology and control scheme has been developed and tested to demonstrate that it can drive low-inductance, surface mounted permanent magnet motors over the wide constant power speed range (CPSR) required in electric vehicle applications. This new controller, called the dual-mode inverter controller (DMIC) , can drive both the Permanent Magnet Synchronous Machine with sinusoidal back emf, and the brushless dc machine (BDCM) with trapezoidal emf as a motor or generator. Here we concentrate on the application of the DMIC to the operation of the BDCM in the motoring mode. Simulation results, supported by closed form analytical expressions, show that the CPSR of the DMIC driven BDCM is infinite when all of the motor and inverter loss mechanisms are neglected. The expressions further show that the ratio of high-to-low motor inductances accommodated by the DMIC is 11 making the DMIC compatible with both low- and high-inductance BDCMs. Classical hysteresis-band motor current control used below base speed is integrated with DMICs phase advance above base speed. The power performance of the DMIC is then simulated across the entire speed range. Laboratory testing of a low-inductance, 7.5-hp BDCM driven by the DMIC demonstrated a CPSR above 6:1. Current peak and rms values remained controlled below rated values at all speeds. A computer simulation accurately reproduced the results of lab testing showing that the limiting CPSR of the test motor is 8:1.     

Integrated design of speed-sensorless and adaptive speed controller for a brushless DC motor

The study develops a design of an integrated new speed-sensorless approach that involves a torque observer and an adaptive speed controller for a brushless dc motor (BLDCM). The system is based on the vector control drive strategy. The speed-sensorless approach first employs a load observer to estimate the disturbed load torque, and then the estimated load torque is substituted into the mechanical dynamic equation to determine the rotor speed, and thus develop a speed-sensorless algorithm. Additionally, the mechanical rotor inertia constant and the friction coefficient, which are the inputs of the load observer, are estimated using the recursive least-square rule. Therefore, the proposed speed-sensorless approach is unaffected by the time-variant motor parameters nor is affected by the integrator drift problem. It also has a simpler computing algorithm than the extended Kalman filter for estimating the speed. The modified model reference adaptive system algorithm, an adaptive control algorithm, is adopted as a speed controller of the BLDCM to improve the performance of the speed-sensorless approach. Simulation and experimental results confirm that the performance of the design of a new integrated speed-sensorless approach and the adaptive speed controller is good.     

Fuzzy adaptive speed control of a permanent magnet synchronous motor

A fuzzy adaptive speed controller is proposed for a permanent magnet synchronous motor (PMSM). The proposed fuzzy adaptive speed regulator is insensitive to model parameter and load torque variations because it does not need any accurate knowledge about the motor parameter and load torque values. The stability of the proposed control system is also proven. The proposed adaptive speed regulator system is implemented by using a TMS320F28335 floating point DSP. Simulation and experimental results are presented to verify the effectiveness of the proposed fuzzy adaptive speed controller under uncertainties such as motor parameter and load torque variations using a prototype PMSM drive system.     

音圈电机伺服驱动器与运动机构设计

为满足一类音圈直流伺服电机的高速振动定位精度工作的精度需求,研发了一种高性能的音圈电机高精度位置定位设备。基于ARMCortex M3系列的STM32F103VCT6处理器设计了音圈直流伺服电机控制系统。分析了该伺服系统结构的组成,研究结果表明：设计的高精度位置伺服系统,能满足位置超调量小于10 counts,稳态调整误差为土1 count的系统参数指标。实现了音圈电机高速振动下控制器对光栅传感器实时采集并且高速处理,以及对音圈电机位置的快速调整,完成对音圈电机的高速振动定位精度的控制。