基于变系数PID的无刷直流电动机双闭环系统

郭宏; 吴海洋; 巫佩军

基于变系数PID的无刷直流电动机双闭环系统

1.
北京航空航天大学自动化科学与电气工程学院, 北京 100191
2. 清华大学自动化系, 北京 100084

基金项目: 航空科学基金资助项目(20007ZC51039)

详细信息

中图分类号: TM 301.2
计量
- 文章访问数: 2890
- HTML全文浏览量: 161
- PDF下载量: 1273
- 被引次数: 0
出版历程
- 收稿日期: 2010-09-03
- 网络出版日期: 2012-01-30

Brushless DC motor double closed-loop control system based on variable coefficient PID

1.
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
2. Department of Automation, Tsinghua University, Beijing 100084, China

摘要

摘要: 针对应用于直接驱动阀的电气双余度无刷直流力矩电动机控制系统,提出在位置环采用变系数PID(Proportion Integration Differentiation)控制算法,根据位置偏差改变调节参数,逐步加强比例和积分作用以快速消除系统稳态误差而又不引起系统抖动;为了保证系统的稳定性,对位置偏差的积分项进行了限制.实验结果表明:位置环采用该变系数PID控制算法的双闭环系统能够有效地保证系统的稳定性能和响应精度.同幅值的位置阶跃响应,位置环/电流环双闭环系统的上升时间比位置环/速度环双闭环系统的上升时间减小了32%;位置环/速度环双闭环系统具有优良的负载适应性能,鲁棒性强.
- 直接驱动阀 /
- 双余度无刷直流电动机 /
- 双闭环控制系统 /
- 变系数PID /
- 鲁棒性
Abstract: A variable coefficient proportion integration differentiation(PID)algorithm used in the position loop was proposed and analyzed in the control system of electrical dual-redundancy brushless DC torque motor used in the direct drive valve. The steady-state error of the system was eliminated quickly by enhancing the influence of proportion regulator and integrator gradually according to the position deviation. The integration of position error was limited to ensure the system'sstability. Experimental results show that the variable coefficient PID algorithm used in the position loop can ensure the system'sstability and the accuracy of the position response, whatever the inner loop uses current loop or velocity loop. For the same step response, the step rise time of the double closed loop structure of the position and current reduced more than 32% compared with that of the double closed loop structure of the position and velocity. However, the double closed-loop structure of position/velocity loop performs strong loading appliance and strong robustness.
- direct drive valve(DDV) /
- dual-redundancy brushless dc motor /
- double closed-loop control system /
- variable coefficient proportion integration differentiation(PID) /
- robustness

HTML全文

参考文献(1)

[1] 郭宏,蔚永强,邢伟.三余度直接驱动阀驱动控制系统[J].北京航空航天大学学报,2007,33(11):1286-1290 Guo Hong,Yu Yongqiang,Xing Wei.Triplex-redundancycontrol system for direct-drive-valve[J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(11):1286-1290(in Chinese) [2] Lin Jea-Sen,Chen Chern-Lin,Lai Chen-Yan.A high-bandwidth PWM servo amplifier for the direct-drive-valve actuation system //Amplified Power Electronics Conference and Exposition.San Diego,CA:IEEE,1993:28-332 [3] 王大彧,郭宏,于凯平,等.基于FPGA的直接驱动阀用音圈电机功率驱动器[J].北京航空航天大学报,2010,36(8):953-956 Wang Dayu,Guo Hong,Yu Kaiping,et al.FPGA-based power drive device for voice coil motor used in direct drive valve[J].Journal of Beijing University of Aeronautics and Astronautics,2010,36(8):953-956(in Chinese) [4] 王自强,张龙,黄燕丹.飞行控制用无刷直流电动机的优化设计[J].北京航空航天大学学报,2004,30(7):587-592 Wang Ziqiang,Zhang Long,Huang Yandan.Optimization design of brushless DC motor for flight control[J].Journal of Beijing University of Aeronautics and Astronatics,2004,30(7):587-592(in Chinese) [5] Fang Hongwei,Xia Changliang,Chen Zhengwei,et al.Position servo control of brushless DC motor based on the second discrete filter //Robotics and Biomimetics.Sanya:IEEE,2007:1838-1842 [6] 郭宏,蔚永强.基于变结构PID控制的直接驱动阀伺服控制系统[J].电工技术学报,2007,22(11):58-62 Guo Hong,Yu Yongqiang.DDV Servocontrol system basedon variable-structure PID control[J].Transactions of China Electrotechnical Society,2007,22(11):58-62(in Chinese) [7] 王巍,郭宏,邢伟,等.电气/机械混合四余度无刷直流力矩电动机控制系统[J].中国电机工程学报,2010,30(6):100-104 Wang Wei,Guo Hong,Xing Wei,et al.A control system for electrical/mechanical hybrid four-redundancy brushless DC torque motor[J].Proceedings of the CSEE,2010,30(6):100-104 (in Chinese) [8] 付永领,裴忠才,宋国彪,等.新型直接驱动伺服阀的瞬态液动力分析[J].机床与液压,1999(1):23-24 Fu Yongling,Pei Zhongcai,Song Guobiao,et al.Analysis of transient flow force in a new direct drive servo valve[J].Machine Tool & Hydraulics,1999(1):23-24(in Chinese) [9] 马瑞卿,刘卫国,罗兵.双余度有限转角力矩电动机控制技术[J].微电机,2000,33(3):24-26 Ma Ruiqing,Liu Weiguo,Luo Bing.Controlling of dual-redundancy limited angle torque motor[J].Micromotors Servo Technique,2000,33(3):24-26(in Chinese) [10] Jhih-Da Hsu,Ching-Lung Tsai,Ying-Yu Tzou.Design and implementation of a voice-coil motor servo control IC for auto-focus mobile camera applications //Power Electronics Specialists Conference.Orlando,FL:IEEE,2007:1357-1362 [11] Shao Xiaoyin,Sun Dong.Development of an FPGA-based motion control ASIC for robotic manipulators //Intelligent Control and Automation.Dalian: ,2006:8221-8225 [12] Wang Dayu,Yu Kaiping,Guo Hong.Functional design of FPGA in a brushless DC motor system based on FPGA and DSP //Vehicle Power and Propulsion Conference.Harbin:IEEE,2008:1-4

施引文献

资源附件(0)

访问统计