翻译的中文 - 广东工业大学程良伦教授——智能与网络化系统研究所.doc

Speed Control of Brushless DC Motor Based on CMAC and PID Controller 无刷直流电机小脑模型网络（CMAC）与PID复合控制 Abstract – The brushless DC motor (BLDCM) has such advantages as simple structure, convenient to control, high reliability, high efficiency, and has been applied in many industrial fields. Conventional controllers suffer from uncertain parameters and the nonlinear of the BLDCM. To overcome the shortcomings of the conventional controller, this paper presents a novel strategy on the basis of compound control using cerebellar model articulation controller (CMAC) and PID controller. Through compound control using CMAC and PID controller the system realizes double-fed control. CMAC forms feedforward controller of the system and realizes the dynamic model of the controlled device; conventional PID controller is used to make up of feedback controller which ensures system stability and depresses disturbance. In this paper， a program written in Visual C++ functions to adjust the compound controller off-line. At last, a TMS320LF2407A digital signal processor (DSP) is used to fully prove the flexibility of the control scheme in real time. The system realizes the self-adjustment pursuit of the speed reference model to a better degree, has the advantages of flexible control, strong adaptability, and achieves higher control accuracy and better robustness. Index Terms - Brushless DC motor, Cerebellar model articulation controller, PID control. 摘要：无刷直流电动机（无刷直流电机）由于其结构简单，控制方便，可靠性高，效率高，被广泛应用在许多工业领域。无刷直流电机具有参数不确定性和非线性的特点，所以传统的控制器不能很好的解决这些问题。为解决传统控制器的这些缺点，本文提出了无刷直流电机的小脑模型神经网络（CMAC）与PID复合控制策略。通过使用小脑模型神经网络（CMAC）与PID复合控制策略，控制系统实现了双反馈控制。传统的PID控制器使用反馈信息改善系统的性能，如保证系统的稳定性和去除干扰。本文用Visual C++函数写了一个程序，可以对复合控制器进行离线调试。最后使用TMS320LF2407A数字信号处理芯片作为控制器，检验了本文提出方法的可行性。该系统在速度参考模型上实现了自动调节，更灵活的控制，适应性更强，并达到较高的控制精度和更好的鲁棒性。 1 介绍 因为有利的电气和机械性能，如高扭矩密度，高效率和可靠性，无刷直流电机被广泛应用于工业领域。由于结构简单，效率高，易于实施的的优点，传统PID控制器被广泛应用于伺服驱动，机器人，数控机床等领域。传统PID控制算法对于电机状态的估计是基于线性模型的，但无刷直流电机是非线性的，具有参数不确定性和非线性的特点，所以传统的控制器不能很好的解决这些问题，所以系统不能很精确的识别。人工