摘要：

针对负载转矩对舵机转速的影响，建立负载力矩的数学模型，提出带前馈模糊自整定比例积分参数的速度环控制算法，利用前馈控制器补偿负载变化对电机转速的影响。当直流无刷电机特性和力矩变化时，通过动态调整控制参数使系统具有良好的鲁棒性和控制精度。设计以数字信号处理器为核心的模糊控制器，采用高精度的绝对编码器作为位置环反馈。实验结果表明，该控制器具有较强鲁棒性，且响应速度快、超调小、控制精度高。

关键词: 模糊PI控制, 前馈控制, 数字信号处理器, 直流无刷电机

Abstract:

Considering the load torque impact on the speed of servo actuator, this paper establishes the model of load torque and proposes a speed circle control algorithm with feedforward fuzzy self-turning Proportional Integral(PI) parameter. It uses feedforward controller to compensate the variational load influence on motor speed. Through dynamic adjustment of control parameter, the controller has good robustness and accuracy when BrushLess DC Motor(BLDCM) characteristics and load torque change. Fuzzy controller is developed by using Digital Signal Processor(DSP) and applying absolute encoder with high accuracy as the feedback of the position loop. Experimental results show that the controller has high robustness, rapid response, small overshoot and high accuracy.

Key words: fuzzy PI control, feedforward control, Digital Signal Processor(DSP), BrushLess DC Motor(BLDCM)

中图分类号: 

• TP273