www.sj-ce.org Vol.1 No.1 PP.31-36

Simulation Study on Brushless DC Motor Based on Fuzzy-PI Control Jinli Lei Electronics. & Elect. Engn. , Baoji Univ. of Arts & Sci., Baoji, China, 721007 Email: leijinli@sohu.com

Abstract: Brushless DC motor ( BLDCM ) is a variable, strong coupling, nonlinear system, the simulation model is hard to be established. To solve this problem, based on the principle and structure of the brushless DC motor (BLDCM), and analyzing the mathematic mode, a simulation model of BLDCM control system is established in Matlab/Simulink by the modular design, and the fuzzy PI control algorithm of prototype is designed. The simulation results show that the fuzzy-PI control speeds up response time, reduces the overshoot, and has strong robust, so it can make the system has better control performance and good applying value.

Key words: brushless DC motor (BLDCM); fuzzy control; PI control; modeling; simulation

[1]

。近年来，随着无刷

1

BLDCM 的数学模型[6] 假设无刷直流电机工作在两相导通、星型三相六状态方式下，反电势波形为平顶宽度为 120 电角度的梯形

Scientific Journal of Control Engineering

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1.1

BLDCM 的定子三相绕组电压平衡方程可表示为： u a  R 0 0 i a  L − M u  =  0 R 0  i  +  0  b  b u c   0 0 R  ic   0

0 L−M 0

e 0  i a   a     0  p ib  + eb  L − M  i  e  c  c

（1）

p = d / dt 。 转矩方程

1.2

Tem =

e a i a + eb i b + e c i c

ω

（2）

2πn 。 60

BLDCM 的电磁转矩大小与电流幅值成正比，所以控制逆变器输出电流的幅值即可控制无刷直流电动机的 转矩。

1.3

Tem − TL − Bω = J

dω dt

（3）

2

BLDCM 系统建模 无刷直流电机控制系统由 BLDCM 电机本体，逆变器，位置检测、控制器等几部分组成，本文以实际控制

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www.sj-ce.org Vol.1 No.1 PP.31-36

BLDCM 本体模块

2.1

ea

eb

ec

0-60°

ke n

− ke n

k e n(1 − θ 30°)

60°-120°

ke n

k e n(((θ − 60°) 30°) − 1)

− ke n

120°-180°

k e n(((120° − θ ) 30°) + 1)

ke n

− ke n

180°-240°

− ke n

ke n

k e n(((θ − 90°) 30°) − 1)

240°-300°

− ke n

k e n(((240° − θ ) 30°) + 1)

ke n

300°-360°

k e n(((θ − 300°) 30°) − 1)

− ke n

ke n

2.2

2.3

Q1 = HB • HC • PWM , Q 2 = HB • HC , Q3 = HA • HC • PWM Q 4 = HA • HC , Q5 = HA • HB • PWM , Q6 = HA • HB 按照上面的逻辑关系，在 Simulink 中采用逻辑运算元件建立的逻辑换相模型。

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2.4

3

NM

NS

ec ZE

PS

PM

PB

NB

PB

PB

PM

PM

PS

ZE

ZE

NM

PB

PB

PM

PS

PS

ZE

NS

NS

PM

PM

PM

PS

ZE

NS

NS

ZE

PM

PM

PS

ZE

NS

NM

NM

PS

PS

PS

ZE

NS

NS

NM

NM

PM

PS

ZE

NS

NM

NM

NM

NB

PB

ZE

ZE

NM

NM

NM

NB

NB

KP

e

NM

NS

ec ZE

PS

PM

PB

NB

NB

NB

NM

NM

NS

ZE

ZE

NM

NB

NB

NM

NS

NS

ZE

ZE

NS

NB

NM

NS

NS

ZE

PS

PS

ZE

NM

NM

NS

ZE

PS

PM

PM

PS

NM

NS

ZE

PS

PS

PM

PB

PM

ZE

ZE

PS

PS

PM

PB

NB

PB

ZE

ZE

PS

PM

PM

NB

NB

KI

e

34

SJCE 2011.12

Scientific Journal of Control Engineering

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4

2200

20

2000

18

1800

16

1600

14 Tem(N*m)

n(rim/s)

1400 1200 1000 800

12 10 8 6

600 400

4

200

2

0

0

0.05

0.1

0.15 t(s)

0.2

0.25

0

0.3

0

0.05

0.1

（a） 转速曲线

0.15 t(s)

1

100

0.5

50

ea(V)

ia(A)

150

0

0

-0.5

-50

-1

-100

0.21

0.215

0.22

0.225 t(s)

0.3

0.205

0.25

（b）电磁转矩曲线

1.5

-1.5 0.2

0.2

0.23

0.235

0.24

0.245

0.25

（c）一相电流波形

-150 0.2

0.205

0.21

0.215

0.22

0.225 t(s)

0.23

0.235

0.24

0.245

0.25

（d）一相反电势波形 图 3 仿真曲线

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5

[2]

[3]

[4]

[5]

Hansen, H.B., Kallesoe, C.S., Bendtsen, J.D. A Hybrid Model of a Brushless DC Motor[C]. Proceedings of IEEE 2007 CCA, 2007: 1124 – 1129.

[6]

[7]

Jeon Y S, Mok H S, Choe G H et al. A new simulation model of BLDC motor with real back EMF waveform[C]. Proceeding from Computers in Power Electronics. The 7th Workshop on Volume Computers in Power Electronics, 2000. USA,2000:217-220.

[8]

[9]

[10] 蒋海波, 崔新艺, 曾凌波 等. 无刷直流电机模糊控制系统建模与仿真[J]. 西安交通大学学报,2005, 9(10):1116-1120.

【作者简介】 雷金莉（1979-），女，汉族，讲师，博士研究生，主要从事智能控制技术研究，Email：leijinli@sohu.com。

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SJCE 2011.12

Scientific Journal of Control Engineering

Simulation Study on Brushless DC Motor Based on Fuzzy-PI Control
Simulation Study on Brushless DC Motor Based on Fuzzy-PI Control

Brushless DC motor ( BLDCM ) is a variable, strong coupling, nonlinear system, the simulation model is hard to be established. To solve this...