CN107612433A - Brushless electric machine list closed loop control method based on modified velocity close-loop control algorithm - Google Patents
Brushless electric machine list closed loop control method based on modified velocity close-loop control algorithm Download PDFInfo
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Abstract
The present invention relates to a kind of brushless electric machine list closed loop control method based on modified velocity close-loop control algorithm, wherein brushless electric machine is controlled using single closed-loop system, comprised the steps of：S1, offer given speed is controlled by single closed-loop system；S2, in the rotary course of brushless electric machine, voltage signal is produced according to the Hall sensor that installation is connected with brushless electric machine end, captures and analyzes feedback speed is calculated；S3, compare given speed and feedback speed, obtain speed deviation signal；S4, the modulation of type velocity close-loop control is improved to speed deviation signal by modified velocity close-loop control device；S5, the speed deviation signal of completion modified velocity close-loop control modulation are inputted to PWM signal generator, the rotating speed of pwm signal ripple control brushless electric machine caused by modulation.Contradiction that can be between balance system fast reserve and control accuracy of the invention, improve the dynamic response and static control performance of the brushless electric machine of the monocyclic control of speed.
Description
Technical Field
The invention relates to a brushless motor single closed-loop control method, in particular to a brushless motor single closed-loop control method based on an improved speed closed-loop control algorithm, and belongs to the technical field of motor control.
Background
With the continuous progress of modern control technology, novel power switching devices and power electronic application technology and the development and utilization of rare earth permanent magnet materials, motors and control technology thereof are rapidly developed. In the prior art, a permanent magnet brushless dc motor is taken as a representative of a novel motor, has the advantages of small volume, high efficiency, large power density, simple and reliable structure, easy control and the like, and is increasingly applied to various electric control occasions. In practical application, a brushless motor often meets the contradictory requirements of large-motor quick response and high-precision stable control.
In order to solve the contradiction, a certain control method and a certain control theory need to be adopted to carry out optimization design on the motor control system. The motor speed regulation control system generally adopts a closed-loop control mode and can be divided into single closed-loop control and multi-closed-loop control according to different control requirements. Generally speaking, the closed-loop depth of the closed-loop system is reasonably increased, and the control performance of the motor closed-loop system is favorably improved.
For a brushless direct current motor speed regulating system, modes such as speed single-loop control, speed current double-loop control and the like are generally adopted. The scheme of speed and current double-loop control can effectively improve the control performance of the motor, however, due to the added arrangement of the current loop, on one hand, the hardware cost is increased, and on the other hand, more size space needs to be occupied in some occasions with strict requirements on the structure size. Therefore, in a certain application scenario, the scheme of speed single-loop control becomes a better choice.
For a single-loop system, under the condition of limited hardware, the optimal design of a software algorithm is particularly valuable. For a general brushless motor speed single-loop control system, a design scheme of a hardware circuit system based on a DSP (Digital Signal Processing) is usually adopted, and a Digital PID (proportional-Integral-Derivative) regulator and a PWM (Pulse Width Modulation) mode are utilized. The DSP captures three-phase Hall voltage signals of the brushless motor, the rotating speed of the motor is calculated according to rising edge jumping time of the captured signals, the DSP compares real-time rotating speed information of the calculated motor with reference rotating speed of the motor, the difference value of the rotating speed information of the motor is adjusted by the digital PID adjuster to generate voltage modulation signals, and the voltage modulation signals are output to the power driving module through PWM modulation, so that the brushless electric steering engine is driven to move.
The PID regulator is also called a proportional-differential-integral regulator, the output quantity of the PID regulator is a sum function of the proportional, differential and integral quantities input by the PID regulator, and the PID regulator has the characteristics of simple algorithm, convenient parameter regulation, no static error in control and the like and is widely applied to the field of industrial control. However, due to the characteristics of nonlinearity and time-varying property of the brushless motor, a brushless motor control system adopting the PID closed-loop control has the problem that the dynamic response performance and the overshoot index are incompatible, the control effect is difficult to achieve the expected control target, and a more appropriate control scheme needs to be selected and designed.
Disclosure of Invention
The invention aims to provide a brushless motor single closed-loop control method based on an improved speed closed-loop control algorithm, which balances the contradiction between the quick maneuverability and the control accuracy of a system and improves the dynamic response and steady-state control performance of a brushless motor controlled by a speed single loop.
In order to achieve the above object, the present invention provides a brushless motor single closed-loop control method based on an improved speed closed-loop control algorithm, wherein the brushless motor is controlled by a single closed-loop system, comprising the following steps:
s1, controlling and providing a given speed by a single closed loop system;
s2, in the rotation process of the brushless motor, generating a voltage signal according to a Hall sensor connected and installed with the end of the brushless motor, and capturing, analyzing and calculating to obtain a feedback speed;
s3, comparing the given speed with the feedback speed to obtain a speed deviation signal;
s4, performing improved speed closed-loop control modulation on the speed deviation signal by an improved speed closed-loop controller;
and S5, inputting a speed deviation signal for completing the improved speed closed-loop control modulation into a PWM signal generator, and controlling the rotating speed of the brushless motor by the PWM signal wave generated by modulation.
In S4, the improved speed closed-loop controller is composed of an integral separation fuzzy PID controller, a digital PI controller and a selection switch, and specifically includes the following steps:
s41, respectively transmitting the speed deviation signals to an integral separation fuzzy PID controller, a digital PI controller and a selection switch;
s42, calculating to obtain an integral separation fuzzy PID control result by the integral separation fuzzy PID controller according to the speed deviation signal, and outputting the integral separation fuzzy PID control result to a selection switch;
s43, calculating an incremental digital PI control result by the digital PI controller according to the speed deviation signal, and outputting the incremental digital PI control result to the selection switch;
and S44, selecting the integral separation fuzzy PID control result and the digital PI control result by the selection switch according to the speed deviation signal and the selection rule, and outputting the integral separation fuzzy PID control result and the digital PI control result to the PWM signal generator.
In S42, the integration and separation fuzzy PID controller is composed of an integration and separation PID controller and a fuzzy controller, and specifically includes the following steps:
s421, the fuzzy controller uses a fuzzy control method to adjust PID control parameters, and the method specifically comprises the following steps: fuzzifying parameters according to the speed deviation signal e and a fuzzy subdomain membership function of the speed deviation variable ec; determining a fuzzy control rule; defuzzification is carried out, and parameter correction factors are selected for correction;
the PID control parameters comprise: proportional control parameter K p Integral control parameter K i And a differential control parameter K d ；
And S422, the integral separation PID controller selects a corresponding control mode according to the speed deviation signal to carry out integral separation PID control.
In S421, the membership function of the fuzzy sub-domain is established according to the following formula:
wherein x is a fuzzy input variable, and the small, medium and large values of the fuzzy input variable respectively correspond to a, b and c.
In S421, the fuzzy control rule is:
when e is>, 0 and ec&At lt, 0, K p Decrease first and then increase, K i Increase first and then hold or decrease, K d Increase first and then remain or decrease;
when e is< 0 and ec&When lt is 0, K is increased p Decrease K i Decrease K d ；
When e is< 0 and ec&At gt, 0, K is decreased p Maintaining K i Decrease K d ；
When e is>, 0 and ec&When gt, 0, K is decreased d Maintaining K p And K i 。
In S422, the integral separation PID control algorithm performed by the integral separation PID controller is:
wherein e (k) is a speed deviation signal; k p Is a proportional control parameter; k is i Is an integral control parameter; t is a sampling period; k d Is a differential control parameter; beta is an integral switch coefficient, and when | e (k) | is less than or equal to delta, beta =1; when | e (k) & gtis not counting&δ, β =0; delta is a preset threshold value.
In S43, the incremental digital PI control result calculated by the digital PI controller is:
u(k)＝u(k-1)+K p [e(k)-e(k-1)]+K i e(k)T；
wherein e (k) is a speed deviation signal; k is p Is a proportional control parameter; k i Is an integral control parameter; t is the sampling period.
The step S44 specifically includes the following steps:
s441, when the single closed-loop control of the brushless motor is started, the selection switch selects to adopt an integral separation fuzzy PID control method, namely the selection switch adopts a control result output by an integral separation fuzzy PID controller and outputs the control result to the PWM signal generator;
s442, after the single closed-loop control of the brushless motor is started, the selection switch records a speed deviation signal e and a speed deviation variable ec in real time;
s443, selecting a switch to extract the maximum value e of the speed deviation signal in the process that the speed deviation signal e crosses zero in two modes of ec being less than 0 and ec being more than 0 max ；
When the speed deviation signal e passes through zero next time, the switch pair e is selected max Judging; if e max If the speed is less than 3% of the given speed, a digital PI control mode is adopted from the zero point, namely, the selection switch selects a control result output by the digital PI controller, the control result is output to the PWM signal generator, and S444 is continuously executed; otherwise, continuing to adopt the integral separation fuzzy PID control method, and repeatedly executing S443;
s444, in the process that the speed deviation signal e reverses the zero crossing point again in two modes of being ec smaller than 0 and being ec larger than 0, the selection switch extracts the maximum value e of the speed deviation signal max ；
When the speed deviation signal e passes the zero point next time, the switch pair e is selected max Judging; if e max If the speed is less than 3% of the given speed, the selection switch continues to adopt a digital PI control mode, and S444 is repeatedly executed; if the speed deviation signal e suddenly changes and the speed deviation change ec exceeds 5% of the given speed, the selection switch adopts the integral separation fuzzy PID control method again and returns to execute S443.
In S5, the PWM signal generator implements a PWM pulse modulation function, a switch conduction selection function, and a motor bidirectional operation control function according to the speed deviation signal that completes the improved speed closed-loop control modulation, and the sampling input signal to the hall sensor, and modulates and generates a PWM signal wave to control the rotation speed of the brushless motor.
In summary, compared with the prior art, the brushless motor single closed-loop control method based on the improved speed closed-loop control algorithm provided by the invention has the following advantages and beneficial effects:
1) The method makes up the defect that the traditional PID control mode cannot give consideration to rapidity and accuracy indexes, and greatly improves the response speed while ensuring the accuracy;
2) The method enables the brushless motor to realize high-precision speed control in a large speed variation range;
3) The method improves the dynamic performance in high-frequency response and improves the amplitude-frequency characteristic of the brushless motor under the same frequency condition.
Drawings
FIG. 1 is a schematic block diagram of a brushless motor single closed-loop control method based on an improved speed closed-loop control algorithm according to the present invention;
FIG. 2 is a flow chart of the operation of the integral separation PID controller of the invention;
FIG. 3 is a schematic block diagram of an integral separation fuzzy PID controller according to the invention;
FIG. 4 is a functional block diagram of an improved speed closed loop controller of the present invention;
FIG. 5 is a schematic block diagram of a PWM signal generator according to the present invention;
FIG. 6 is a detailed design diagram of the brushless motor single closed-loop control method based on the improved speed closed-loop control algorithm in the present invention;
FIG. 7 shows Δ K in the present invention p The fuzzy control rule parameter setting table;
FIG. 8 shows Δ K in the present invention i The fuzzy control rule parameter setting table;
FIG. 9 shows Δ K in the present invention d The fuzzy control rule parameter setting table.
Detailed Description
A preferred embodiment of the present invention will be described in detail below with reference to fig. 1 to 9.
As shown in fig. 1 and fig. 6, a schematic block diagram of a brushless motor single closed-loop control method based on an improved speed closed-loop control algorithm provided by the present invention, wherein a brushless motor is controlled by a single closed-loop system, and a speed loop is formed by a given speed and a feedback speed, comprises the following steps:
s1, a single closed loop system controls and provides a given speed;
s2, in the rotating process of the brushless motor, voltage signals are generated according to a Hall sensor connected and installed with the brushless motor end, and the feedback speed is obtained through capturing, analyzing and calculating;
s3, comparing the given speed with the feedback speed to obtain a speed deviation signal;
s4, performing improved speed closed-loop control modulation on the speed deviation signal by an improved speed closed-loop controller;
and S5, inputting a speed deviation signal for completing the improved speed closed-loop control modulation into the PWM signal generator, and modulating the generated PWM signal wave to control the rotating speed of the brushless motor.
The step S2 specifically comprises the following steps:
s21, acquiring a voltage signal by a Hall sensor in the rotation process of the brushless motor;
and S22, converting the voltage signal by the rotating speed calculation module and obtaining the feedback speed of the brushless motor.
As shown in fig. 4, in S4, the improved speed closed-loop controller is composed of an integral-separation fuzzy PID controller, a digital PI controller, and a selection switch, and specifically includes the following steps:
s41, respectively transmitting the speed deviation signals to an integral separation fuzzy PID controller, a digital PI controller and a selection switch;
s42, calculating to obtain an integral separation fuzzy PID control result by the integral separation fuzzy PID controller according to the speed deviation signal, and outputting the integral separation fuzzy PID control result to a selection switch;
s43, calculating an incremental digital PI control result by the digital PI controller according to the speed deviation signal, and outputting the incremental digital PI control result to the selection switch;
and S44, selecting the integral separation fuzzy PID control result and the digital PI control result by the selection switch according to the speed deviation signal and the selection rule, and outputting the integral separation fuzzy PID control result and the digital PI control result to the PWM signal generator.
As shown in fig. 3, in S42, the integrating-separating fuzzy PID controller is composed of an integrating-separating PID controller and a fuzzy controller, and specifically includes the following steps:
s421, setting the PID control parameters by the fuzzy controller by using a fuzzy control method; the PID control parameters comprise: proportional control parameter K p Integral control parameter K i And a differential control parameter K d ；
And S422, the integral separation PID controller selects a corresponding control mode according to the speed deviation signal to carry out integral separation PID control.
As shown in fig. 3, the step S421 includes a process of fuzzifying parameters, setting fuzzy control rules, and defuzzifying; the method specifically comprises the following steps: and performing parameter fuzzification according to the speed deviation signal and the membership function of the fuzzy subdomain of the speed deviation variable quantity, designing a fuzzy rule table according to a fuzzy reasoning rule, finally performing defuzzification, and selecting a proper parameter correction factor according to engineering experience to perform parameter correction. Therefore, in this step, the corrected result output by the fuzzy estimation calculation is actually used for parameter tuning of the integral separation PID controller, so as to obtain a preferable PID control parameter.
The fuzzy controller has two input quantities, namely a speed deviation signal e and a speed deviation variable ec; at the same time, three outputs, respectively Δ K p 、ΔK i 、ΔK d . Let K p0 、K i0 、K d0 The initial values are respectively, then the three PID control parameters can be expressed as:
in the process of parameter fuzzification, the domains of input quantity and output quantity are respectively set as follows:
e and ec have the domains of { -3, -2, -1,0,1,2,3};
ΔK p 、ΔK i 、ΔK d the domain of (a) is { -6, -4, -2,0,2,4,6};
the input and output fuzzy subsets are { negative large (NB), negative Medium (NM), negative Small (NS), zero (ZO), positive Small (PS), positive Medium (PM) and positive large (PB) }, so that the membership function of the fuzzy subsets can select a triangular function.
In the invention, the membership function of the fuzzy subdomain is established according to the following formula:
where x is a fuzzy input variable whose values "small" (S), "medium" (M) and "large" (B) correspond to a, B, c, respectively.
In the process of setting the fuzzy control rule, according to the Mamdani fuzzy inference type, the implication relationship of the fuzzy inference can be expressed as follows: if e = A and ec = B, Δ K p ＝C，ΔK i ＝D，ΔK d ＝E。
In the invention, the fuzzy control rule is as follows:
when e is>, 0 and ec&At lt, 0, K p Decrease first and then increase, K i Increase first and then hold or decrease, K d Increase first and then hold or decrease;
when e is< 0 and ec&When lt is 0, K is increased p Decrease K i At a reduced speed, reducing K d ；
When e is< 0 and ec&At gt, 0, K is decreased p Maintaining K i Decrease K d To reduce the speed;
when e is>, 0 and ec&At gt, 0, K is decreased d Maintenance of K p And K i The PI control is mainly used.
Establishing Δ K according to the fuzzy control rule p 、ΔK i 、ΔK d The fuzzy control rule parameter tuning tables of (1) are respectively shown in fig. 7, 8 and 9.
In the defuzzification process, a discretization area gravity center method is adopted, and the calculation method is as follows:
wherein u is 0 As output quantity u i Is the abscissa of the discrete membership function, A (u) i ) Is u i And the coordinate points correspond to function values of the membership functions.
Obtaining delta K through defuzzification p 、ΔK i 、ΔK d The calculated value of (D) is generally multiplied by a parameter correction factor to obtain an output variable value for actual control, which is recorded as Δ K p ’、ΔK i ’、ΔK d ' obtaining the K after fuzzy control by summing the difference value and the initial value p 、K i 、K d Actual value of (c):
as shown in fig. 2, the step S422 specifically includes the following steps:
setting a threshold value delta, wherein delta is greater than 0;
comparing the absolute value | e (k) | of the speed deviation signal with a threshold value delta; when | e (k) | is less than or equal to δ, introducing an integral action, namely adopting a PID control mode to ensure that the static error is smaller so as to improve the control precision; and when the | e (k) | > delta, canceling the integral action, namely adopting a PD control mode to improve the response speed.
That is, the integral separation PID control algorithm performed by the integral separation PID controller is:
for the convenience of calculation, an incremental PID control method is adopted, and the expression can be further shown as follows:
wherein e (k) is a speed deviation signal; k p Is a proportional control parameter; k is i Is an integral control parameter; t is a sampling period; k d Is a differential control parameter; beta is an integral switching coefficient, and when | e (k) | is less than or equal to delta, beta =1; when | e (k) & gtis not counting&When delta, beta =0; delta is a preset threshold value.
In combination with the above fuzzy control on PID control parameters, the integral separation PID control algorithm performed by the integral separation PID controller can be expressed as:
in S43, the incremental digital PI control result calculated by the digital PI controller is:
u(k)＝u(k-1)+K p [e(k)-e(k-1)]+K i e(k)T；
wherein e (k) is a speed deviation signal; k is p Is a proportional control parameter; k is i Is an integral control parameter; t is the sampling period.
The step S44 specifically includes the following steps:
s441, when the single closed-loop control of the brushless motor is started, the selection switch selects to adopt an integral separation fuzzy PID control method, namely the selection switch adopts a control result output by an integral separation fuzzy PID controller and outputs the control result to the PWM signal generator;
s442, after the single closed-loop control of the brushless motor is started, the selection switch records a speed deviation signal e and a speed deviation variable ec in real time;
s443, selecting a switch to extract the maximum value e of the speed deviation signal in the process that the speed deviation signal e crosses zero in two modes of ec being less than 0 and ec being more than 0 max ；
When the speed deviation signal e passes the zero point next time, the switch pair e is selected max Judging; if e max If the speed is less than 3% of the given speed, the digital PI control mode is adopted from the zero point, namely, the selection switch selects the digital PI control modeOutputting the control result output by the controller to the PWM signal generator, and continuing to execute S444; otherwise, continuing to adopt the integral separation fuzzy PID control method, and repeatedly executing S443;
s444, in the process that the speed deviation signal e reverses the zero crossing point again in the modes that ec is smaller than 0 and ec is larger than 0, the selection switch extracts the maximum value e of the speed deviation signal max ；
When the speed deviation signal e passes the zero point next time, the switch pair e is selected max Judging; if e max If the speed is less than 3% of the given speed, the selection switch continues to adopt the digital PI control mode, and S444 is repeatedly executed; if the speed deviation signal e suddenly changes and the speed deviation change ec exceeds 5% of the given speed, the selection switch adopts the integral separation fuzzy PID control method again and returns to execute S443.
As shown in fig. 5, in S5, the PWM signal generator is composed of a triangular wave generating module, a PWM comparing module, a bidirectional operation control module, a two-by-two conduction mode module, and a PWM signal output module. The PWM signal generator realizes a PWM pulse modulation function, a switch conduction selection function and a motor bidirectional operation control function according to a speed deviation signal for completing improved speed closed-loop control modulation and a sampling input signal of a Hall sensor, and modulates and generates a PWM signal wave to control the rotating speed of the brushless motor.
Based on the above, please refer to fig. 6, which is a detailed design diagram of the brushless motor single closed-loop control method based on the improved speed closed-loop control algorithm provided by the present invention; the contents described in fig. 1 to 5 are organically fused to form a brushless motor closed-loop control system adopting an improved speed closed-loop control algorithm.
In summary, the brushless motor single closed-loop control method based on the improved speed closed-loop control algorithm provided by the invention is improved and optimally designed aiming at the defects of the traditional digital PID closed-loop scheme, the integral separation PID control method is introduced, and the fuzzy control is combined with the integral separation PID control method to form the integral separation fuzzy PID controller. Meanwhile, according to the design concept of segmented control, a PI controller and the integral separation fuzzy PID controller are combined, and a specific control mode is selected through a selection switch, so that an improved speed closed-loop controller is formed. In practical application, the improved speed closed-loop controller executes a specific control mode according to a selection result of the selector switch, and meets the stability index while ensuring that the speed closed-loop system meets the rapidity index.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. A brushless motor single closed-loop control method based on an improved speed closed-loop control algorithm is characterized in that a brushless motor adopts single closed-loop system control, and the method comprises the following steps:
s1, controlling and providing a given speed by a single closed loop system;
s2, in the rotation process of the brushless motor, generating a voltage signal according to a Hall sensor connected and installed with the end of the brushless motor, and capturing, analyzing and calculating to obtain a feedback speed;
s3, comparing the given speed with the feedback speed to obtain a speed deviation signal;
s4, performing improved speed closed-loop control modulation on the speed deviation signal by an improved speed closed-loop controller;
and S5, inputting a speed deviation signal for completing the improved speed closed-loop control modulation into the PWM signal generator, and modulating the generated PWM signal wave to control the rotating speed of the brushless motor.
2. The method according to claim 1, wherein in S4, the improved speed closed-loop controller is composed of an integral-separation fuzzy PID controller, a digital PI controller and a selection switch, and specifically comprises the following steps:
s41, respectively transmitting the speed deviation signals to an integral separation fuzzy PID controller, a digital PI controller and a selection switch;
s42, calculating to obtain an integral separation fuzzy PID control result by the integral separation fuzzy PID controller according to the speed deviation signal, and outputting the integral separation fuzzy PID control result to a selection switch;
s43, the digital PI controller calculates an incremental digital PI control result according to the speed deviation signal and outputs the incremental digital PI control result to the selection switch;
and S44, selecting the integral separation fuzzy PID control result and the digital PI control result by the selection switch according to the speed deviation signal and the selection rule, and outputting the integral separation fuzzy PID control result and the digital PI control result to the PWM signal generator.
3. The method as claimed in claim 2, wherein in S42, the integral separation fuzzy PID controller is composed of an integral separation PID controller and a fuzzy controller, and specifically comprises the following steps:
s421, the fuzzy controller utilizes a fuzzy control method to set PID control parameters, and specifically comprises the following steps: performing parameter fuzzification according to the speed deviation signal e and a fuzzy subdomain membership function of the speed deviation variable ec; determining a fuzzy control rule; defuzzification is carried out, and parameter correction factors are selected for correction;
the PID control parameters comprise: proportional control parameter K p Integral control parameter K i And a differential control parameter K d ；
And S422, the integral separation PID controller selects a corresponding control mode according to the speed deviation signal to carry out integral separation PID control.
4. The method of claim 3, wherein in the step S421, the fuzzy sub-domain membership function is established according to the following formula:
wherein x is a fuzzy input variable, and the small, medium and large values of the fuzzy input variable respectively correspond to a, b and c.
5. The method for single-closed-loop control of a brushless motor based on an improved speed closed-loop control algorithm as claimed in claim 3, wherein in S421, the fuzzy control rule is:
when e is>, 0 and ec&At lt, 0, K p Decrease first and then increase, K i Increase first and then hold or decrease, K d Increase first and then remain or decrease;
when e is< 0 and ec&When lt is 0, K is increased p Decrease K i Decrease K d ；
When e is< 0 and ec&When gt, 0, K is decreased p Maintaining K i Decrease K d ；
When e is>, 0 and ec&At gt, 0, K is decreased d Maintaining K p And K i 。
6. The method as claimed in claim 3, wherein in step S422, the integral separation PID controller performs an integral separation PID control algorithm as follows:
wherein e (k) is a speed deviation signal; k is p Is a proportional control parameter; k i Is an integral control parameter; t is a sampling period; k d Is a differential control parameter; beta is an integral switching coefficient, and when | e (k) | is less than or equal to delta, beta =1; when | e (k) & gtis not counting&δ, β =0; delta is a preset threshold value.
7. The method as claimed in claim 3, wherein in S43, the incremental digital PI control result calculated by the digital PI controller is:
u(k)＝u(k-1)+K p [e(k)-e(k-1)]+K i e(k)T；
wherein e (k) is a speed deviation signal; k p Is a proportional control parameter; k is i Is an integral control parameter; t is the sampling period.
8. The method according to claim 7, wherein the step S44 includes the following steps:
s441, when the single closed-loop control of the brushless motor is started, the selection switch selects to adopt an integral separation fuzzy PID control method, namely the selection switch adopts a control result output by an integral separation fuzzy PID controller and outputs the control result to the PWM signal generator;
s442, after the single closed-loop control of the brushless motor is started, the selection switch records a speed deviation signal e and a speed deviation variable ec in real time;
s443, selecting a switch to extract the maximum value e of the speed deviation signal in the process that the speed deviation signal e crosses zero in two modes of ec being less than 0 and ec being greater than 0 max ；
When the speed deviation signal e passes through zero next time, the switch pair e is selected max Judging; if e max If the speed is less than 3% of the given speed, a digital PI control mode is adopted from the zero point, namely, the selection switch selects a control result output by the digital PI controller, the control result is output to the PWM signal generator, and S444 is continuously executed; otherwise, continuing to adopt an integral separation fuzzy PID control method, and repeatedly executing S443;
s444, in the process that the speed deviation signal e reverses the zero crossing point again in the modes that ec is smaller than 0 and ec is larger than 0, the selection switch extracts the maximum value e of the speed deviation signal max ；
When the speed deviation signal e passes through zero next time, the switch pair e is selected max Judging; if e max If the speed is less than 3% of the given speed, the selection switch continues to adopt the digital PI control mode, and the operation is repeatedExecuting S444; if the speed deviation signal e suddenly changes and the speed deviation change ec exceeds 5% of the given speed, the selection switch adopts the integral separation fuzzy PID control method again and returns to execute S443.
9. The method as claimed in claim 1, wherein the PWM signal generator performs a PWM pulse modulation function, a switch on selection function and a motor bidirectional operation control function according to the speed deviation signal for performing the improved speed closed-loop control modulation and the sampled input signal of the hall sensor, and modulates and generates a PWM signal wave to control the rotation speed of the brushless motor in S5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113346810A (en) * | 2021-06-18 | 2021-09-03 | 湖南科技大学 | Speed and current double closed-loop fuzzy control PMSM sensorless control method |
| CN113346810B (en) * | 2021-06-18 | 2022-11-11 | 湖南科技大学 | Speed and current double closed-loop fuzzy control PMSM sensorless control method |
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