CN105958873A - Speed regulating system and series-wound type rotary speed controller for nine-phase brushless direct current motor of water pump - Google Patents
Speed regulating system and series-wound type rotary speed controller for nine-phase brushless direct current motor of water pump Download PDFInfo
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- CN105958873A CN105958873A CN201610414224.6A CN201610414224A CN105958873A CN 105958873 A CN105958873 A CN 105958873A CN 201610414224 A CN201610414224 A CN 201610414224A CN 105958873 A CN105958873 A CN 105958873A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0013—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
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- Automation & Control Theory (AREA)
- Fuzzy Systems (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a series-wound type rotary speed controller for a nine-phase brushless direct current motor of a water pump. The series-wound type rotary speed controller comprises a fuzzy PID parameter setting controller used for adjusting a proportion parameter, an integral parameter and a differential parameter, a first multiplying unit, a second multiplying unit, a third multiplying unit, a fractional order integrating filter module used for obtaining an actual integral order close to a given integral order and carrying out change step adjustment on the input signal according to the actual integral order, a fractional order differential filter module used for obtaining an actual differential order close to a given differential order and carrying out oscillation adjustment on the input signal according to the actual differential order, a first summing unit and a second summing unit. By adoption of the series-wound type rotary speed controller, the restraining effect of the torque pulsation and the increasing/decreasing of the rotary speed can be optimized simultaneously, and a good optimization effect is realized. The invention also discloses a speed regulating system for the nine-phase brushless direct current motor of the water pump, wherein the speed regulating system comprises the series-wound type rotary speed controller and also can achieve the effects.
Description
Technical field
The present invention relates to motor speed control field, particularly relate to a kind of water pump nine phase brushless DC motors
Governing system and tandem rotational speed governor thereof.
Background technology
Along with developing rapidly of production technology, brshless DC motor is applied in productive life more and more
Coming, the now is due to the continuous lifting of commercial production demand, the control that brshless DC motor rotating speed is controlled by people
Precision processed is had higher requirement.
At present, water pump with nine phase brushless DC motor governing systems use conventional PID control device come right
Rotating speed is controlled, and has simple in construction, the advantage such as is easily achieved.During rotating speed control, can not keep away
The meeting exempted from produces certain torque pulsation and certain rotating speed increases/lands, therefore needs to carry out torque pulsation
Suppress and rotating speed increased/lands to be optimized, but in conventional PID control, when adjusting torque pulsation
After diminishing, motor speed loss can increase, and adjusts after motor speed loss diminishes, and torque pulsation can increase, i.e. torque
Pulsation can not be optimized with motor speed loss simultaneously, and effect of optimization is poor.
Therefore, how to provide water pump nine phase brushless DC motor governing systems that a kind of effect of optimization is good and
Tandem rotational speed governor is the problem that those skilled in the art are presently required solution.
Summary of the invention
It is an object of the invention to provide the tandem rotational speed governor of a kind of water pump nine phase brushless DC motors,
Can be the most torque pulsation inhibited, rotating speed is increased/lands simultaneously and be optimized, effect of optimization is good.This
The another object of invention be to provide a kind of water pump including above-mentioned tandem rotational speed governor with nine mutually brushless directly
Stream motor speed regulation system.
For solving above-mentioned technical problem, the invention provides the series connection with nine phase brushless DC motors of a kind of water pump
Formula rotational speed governor is fuzzy including be adjusted for comparative example parameter, integral parameter and differential parameter
Pid parameter setting controller, the first multiplier, the second multiplier, the 3rd multiplier, be used for obtaining close
To the actual integration order of definite integral order, and according to described actual integration order, input signal is changed
Fractional order integration filter module that step adjusts, for obtaining the actual derivative order close to given differential order
Secondary, and according to described actual differential order, input signal is carried out the fractional order differential filtering of vibration adjustment
Device module, first adder and second adder, wherein:
The positive input terminal of described first adder is the given rotating speed input of described tandem rotational speed governor,
The negative input end of described first adder is the actual measurement rotating speed input of described tandem rotational speed governor；Described
The outfan of first adder respectively with the input of described fuzzy parameter tuning controller, described first
The of second input of multiplier, the second input of described second multiplier and described 3rd multiplier
Two inputs are connected；
The of the scale parameter outfan of described fuzzy parameter tuning controller and described first multiplier
One input is connected, and the integral parameter outfan of described fuzzy parameter tuning controller is taken advantage of with described second
The first input end of musical instruments used in a Buddhist or Taoist mass is connected, the differential parameter outfan of described fuzzy parameter tuning controller and institute
The first input end stating the 3rd multiplier is connected；
The outfan of described second multiplier is connected with the input of described fractional order integration filter module；
The outfan of described 3rd multiplier is connected with the input of described fractional order differential filter module；
The outfan of described first multiplier, the outfan of described fractional order integration filter module and described
The outfan of fractional order differential filter module respectively with the three of described second adder corresponding phases of input
Even, the outfan of described second adder is the outfan of described tandem rotational speed governor.
Preferably, also include:
First clipping module, the input of described first clipping module and the outfan phase of described second adder
Even, the outfan of described first clipping module is the outfan of described tandem rotational speed governor.
Preferably, described fractional order integration filter module includes for making described actual integration order approach institute
State to definite integral order, and according to described actual integration order, input signal is changed step adjustment and amasss
Divide and approach module and for the integration Inertial Mode that the output signal of described Integral Approximation module is finely adjusted
Block；
The input of described Integral Approximation module is the input of described fractional order integration filter module, described
The outfan of Integral Approximation module is connected with the input of described integration inertia module, described integration inertia module
The outfan that outfan is described fractional order integration filter module；
Described fractional order differential filter module includes for making described actual differential order approach described given
Differential order, and according to described actual differential order, input signal carried out the differential that vibration adjusts and approach module
And for described differential being approached the differential inertia module that the output signal of module is finely adjusted；
Described differential approaches the input that the input of module is described fractional order differential filter module, described
The input of outfan and described differential inertia module that differential approaches module is connected, described differential inertia module
The outfan that outfan is described fractional order differential filter module.
For solving above-mentioned technical problem, present invention also offers a kind of water pump nine phase brushless DC motor speed governing
System, including the tandem rotational speed governor described in any of the above item.
The invention provides the tandem rotational speed governor of a kind of water pump nine phase brushless DC motors, using will
The mode that fuzzy tandem rotational speed governor is connected with Fractional Order PID tandem rotational speed governor, by
According to experimental result, fuzzy tandem rotational speed governor has for torque pulsation and preferably presses down
Effect processed (better than the inhibition that conventional PID control and Fractional Order PID rotating speed control), Fractional Order PID
Tandem rotational speed governor increases for rotating speed/lands and has preferable effect of optimization and (compare conventional PID control
And the effect of optimization of fuzzy rotating speed control is good), therefore medium speed deviation signal of the present invention first passes through mould
Stick with paste PID and control rotating speed system, make the inhibition of torque pulsation reach optimal value, pass through Fractional Order PID the most again
Rotating speed controls, and makes rotating speed increase/land also to reach optimal value, the i.e. present invention can preferably suppress torque arteries and veins
Dynamic, rotating speed is increased/lands simultaneously and be optimized, effect of optimization is good.Present invention also offers a kind of water pump
By nine phase brushless DC motor governing systems, there is above-mentioned beneficial effect, do not repeat them here.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to prior art and enforcement
In example, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only
Some embodiments of the present invention, for those of ordinary skill in the art, are not paying creative work
Under premise, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The tandem rotational speed governor of a kind of water pump nine phase brushless DC motors that Fig. 1 provides for the present invention
Simulation architecture schematic diagram；
Fuzzy parameter tuning controller in a kind of tandem rotational speed governor that Fig. 2 provides for the present invention
Simulation architecture schematic diagram；
The simulation architecture of a kind of water pump nine phase brushless DC motor governing systems that Fig. 3 provides for the present invention
Schematic diagram.
Detailed description of the invention
The core of the present invention is to provide the tandem rotational speed governor of a kind of water pump nine phase brushless DC motors,
Can be the most torque pulsation inhibited, rotating speed is increased/lands simultaneously and be optimized, effect of optimization is good.This
The another object of invention be to provide a kind of water pump including above-mentioned tandem rotational speed governor with nine mutually brushless directly
Stream motor speed regulation system.
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that
Described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based in the present invention
Embodiment, those of ordinary skill in the art obtained under not making creative work premise all its
His embodiment, broadly falls into the scope of protection of the invention.
The invention provides the tandem rotational speed governor of a kind of water pump nine phase brushless DC motors, see figure
Shown in 1, the tandem rotating speed of a kind of water pump nine phase brushless DC motors that Fig. 1 provides for the present invention controls
The simulation architecture schematic diagram of device；Wherein, n-ref given rotating speed, n actual measurement rotating speed, Add1 first add
Musical instruments used in a Buddhist or Taoist mass, Add2 second adder, fuzzy fuzzy parameter tuning controller, Product first
Multiplier, Product1 the second multiplier, Product2 the 3rd multiplier, FKp fuzzy parameter
The scale parameter outfan of setting controller, FKi fuzzy parameter tuning controller integral parameter defeated
Go out end, the differential parameter outfan of FKd fuzzy parameter tuning controller, itransfer fractional order
Integration filter module, dtransfer fractional order differential filter module, Ttransfer Fcn3 integration are forced
Near-lying mode block, Ttransfer Fcn integration inertia module, Ttransfer Fcn4 differential approach module, Ttransfer
Fcn2 differential inertia module, is export.
This tandem rotational speed governor includes adjusting for comparative example parameter, integral parameter and differential parameter
Whole fuzzy parameter tuning controller, the first multiplier, the second multiplier, the 3rd multiplier, it is used for
Obtain close to the actual integration order of definite integral order, and according to actual integration order, input signal is carried out
Fractional order integration filter module that change step adjusts, micro-for obtaining the reality close to given differential order
Sublevel, and according to actual differential order, input signal is carried out the fractional order differential filtering of vibration adjustment
Device module, first adder and second adder, wherein:
The positive input terminal of first adder is the given rotating speed input of tandem rotational speed governor, the first addition
The negative input end of device is the actual measurement rotating speed input of tandem rotational speed governor；The outfan of first adder divides
Not and the input of fuzzy parameter tuning controller, the second input of the first multiplier, the second multiplication
Second input of device and the second input of the 3rd multiplier are connected；
The scale parameter outfan of fuzzy parameter tuning controller and the first input end of the first multiplier
It is connected, the integral parameter outfan of fuzzy parameter tuning controller and the first input end of the second multiplier
It is connected, the differential parameter outfan of fuzzy parameter tuning controller and the first input end of the 3rd multiplier
It is connected；
The outfan of the second multiplier is connected with the input of fractional order integration filter module；
The outfan of the 3rd multiplier is connected with the input of fractional order differential filter module；
The outfan of the first multiplier, the outfan of fractional order integration filter module and fractional order differential filter
The outfan of ripple device module is corresponding with the three of second adder inputs respectively to be connected, second adder defeated
Go out the end outfan for tandem rotational speed governor.
It is understood that fuzzy parameter tuning controller and the first multiplier, the second multiplier,
Three multiplier combination constitute fuzzy tandem rotational speed governor together, the first multiplier, second take advantage of
Musical instruments used in a Buddhist or Taoist mass, the 3rd multiplier and fractional order integration filter module, fractional order differential filter block combiner are one
Rise and constitute Fractional Order PID tandem rotational speed governor, therefore the present invention is equivalent to fuzzy tandem and turns
Speed controller forms after connecting with Fractional Order PID tandem rotational speed governor.
Wherein, fuzzy control is based on fuzzy set theory, Fuzzy Linguistic Variable and fuzzy logic inference
A kind of intelligent control method, is a kind of intelligent control method of a kind of reasoning imitating the mankind and thinking model.
First the signal of acquisition is carried out Fuzzy processing by this control mode, then the operating experience of staff is compiled
Become fuzzy rule, fuzzy rule the signal after fuzzy carried out fuzzy reasoning, then will obtain after reasoning
Output exports, thus realizes the Based Intelligent Control of apery class.And fuzzy rotating speed controls to be by fuzzy control
Combine with conventional PID control, adjust parameters in conventional PID control by fuzzy control
Size, and then make control result precision higher, overshoot is less.
By experimental data, fuzzy rotating speed controls the inhibition of torque pulsation is better than fractional order
PID rotating speed control or conventional PID control, and Fractional Order PID rotating speed control rotating speed is increased/lands excellent
Change effect and be better than the control of fuzzy rotating speed or conventional PID control.Therefore medium speed deviation signal of the present invention is first
First passing through fuzzy parameter tuning controller, optimize torque pulsation, the signal after optimizing afterwards is by dividing
Rotating speed is increased/lands and is optimized by number rank PID tandem rotational speed governor further, it is seen that energy of the present invention
The inhibition enough making torque pulsation increases with rotating speed/lands and optimized simultaneously, and effect of optimization is good.
Wherein, rotating speed here increases or motor speed loss refers respectively to water pump nine phase brushless DC motors and dashes forward
The situation of change of rotating speed when loading and anticlimax load both of these case.When shock load, rotating speed increases,
Now rotating speed is increased be optimized refer to rotating speed is increased during produce overshoot suppress, and
Reduce the regulating time of rotating speed；When anticlimax loads, motor speed loss, now motor speed loss is optimized finger
Be that the maximum dynamically landing amount produced during motor speed loss is suppressed, and reduce the most extensive of rotating speed
The multiple time.
It is understood that scale parameter, integral parameter and differential parameter are through fuzzy parameter tuning
Controller is output as FKp, FKi and FKd after adjusting, and corresponds to the scale parameter after adjusting respectively, amasss
Dividing parameter and differential parameter, PID control relationship is as follows:
Wherein, KPIt is scale parameter,It is integral parameter, KPTdBeing differential parameter, e (t) is fuzzy
The input signal of pid parameter setting controller.And according to above-mentioned relation formula, scale parameter after adjustment,
Integral parameter and differential parameter, phase after being multiplied with the signal of gained is the most corresponding after input signal calculus
Add.
Fuzzy shown in Figure 2, in a kind of tandem rotational speed governor that Fig. 2 provides for the present invention
The simulation architecture schematic diagram of parameter tuning controller；Wherein, e input, Derivative derivative module,
Gain1 amplification coefficient multiplier, Gain2 differential amplification coefficient multiplier, Saturation clipping module,
Zero-Order Hold zero point keeper, Fuzzy Logic Controller fuzzy logic controller,
Constant constant, Gain3 initial proportion parameter control module, Gain4 initial integration state modulator
Module, Gain5 original differential parameter control module, Gain6 scale parameter are adjusted amplification module, Gain7
Adjust amplification module, Gain8 differential parameter of integral parameter is adjusted amplification module, Add adder.
From Figure 2 it can be seen that the input signal of fuzzy parameter tuning controller is through Gain6～Gain8
Adjust after, corresponding with initial scale parameter, integral parameter and differential parameter be added, be equivalent to adjust
The size of scale parameter, integral parameter and differential parameter.Wherein, the clipping range of clipping module is permissible
For [-3V ,+3V], certainly, this is not particularly limited by the present invention, and the present invention does not the most limit Gain1～Gain8
The numerical values recited of interior quantizing factor, staff can decide in its sole discretion according to practical situation.
As preferably, this tandem rotational speed governor also includes:
First clipping module, the input of the first clipping module is connected with the outfan of second adder, and first
The outfan of clipping module is the outfan of tandem rotational speed governor.
It is understood that this module can carry out amplitude modulation(PAM) to the electric current in circuit, it is to avoid electric current is excessive
Burn out water pump nine phase brushless DC motors, also avoid current amplitude cause time too small water pump with nine mutually brushless directly
The carrying load ability of stream motor is weak, toggle speed is slow.Here clipping range can be [-100V ,+100V],
Certainly, the present invention does not limit the amplitude of the first clipping module and limits scope, and staff can be according to practical situation
Decide in its sole discretion.
It is further known that, fractional order integration filter module includes for making actual integration order approach to constant volume
Sublevel time, and according to actual integration order input signal is changed Integral Approximation module that step adjusts with
And for the integration inertia module that the output signal of Integral Approximation module is finely adjusted；
The input of Integral Approximation module is the input of fractional order integration filter module, Integral Approximation module
Outfan be connected with the input of integration inertia module, the outfan of integration inertia module is fractional order integration
The outfan of filter module；
Fractional order differential filter module includes for making actual differential order approach given differential order, and presses
According to the facts border differential order input signal is carried out vibration adjust differential approach module and for differential is forced
The differential inertia module that the output signal of near-lying mode block is finely adjusted；
Differential approaches the input that input is fractional order differential filter module of module, and differential approaches module
Outfan be connected with the input of differential inertia module, the outfan of differential inertia module is fractional order differential
The outfan of filter module.
Wherein, the filter order of fractional order integration filter module and fractional order differential filter module can
To be set to 7 rank, certainly, this is not construed as limiting by the present invention, staff can according to practical situation arrange with
The filter order of upper two modules.
It addition, the present invention gives definite integral order in the range of-0.9～-1.For example, it is possible to arrange to definite integral
Order is-0.985, and now, fractional order integration filter can make actual integration order approach-0.985.
It is understood that have been found through experimentation that the effective range to definite integral order is-0.66～-1.1,
The most normal control of guarantee tandem rotational speed governor；Further, in order to ensure
The control accuracy of this tandem rotational speed governor is high, needs to make to definite integral order in the range of-0.9～-1.
Wherein, any number in above-mentioned scope, the present invention couple can be selected according to practical situation to definite integral order
This is not construed as limiting.It addition, staff can draw to the scope of definite integral order, the present invention couple according to test
This is also not construed as limiting.
In the present invention, given differential order could be arranged to 0.985, and the size of given differential order draws constant volume
The absolute value of the size of sublevel time.Certainly, staff can suitably be given differential according to experimental conditions
The scope of order, and the most given selected differential order in the range of this, this is not construed as limiting by the present invention.
The invention provides the tandem rotational speed governor of a kind of water pump nine phase brushless DC motors, using will
The mode that fuzzy tandem rotational speed governor is connected with Fractional Order PID tandem rotational speed governor, by
According to experimental result, fuzzy tandem rotational speed governor has for torque pulsation and preferably presses down
Effect processed (better than the inhibition that conventional PID control and Fractional Order PID rotating speed control), Fractional Order PID
Tandem rotational speed governor increases for rotating speed/lands and has preferable effect of optimization and (compare conventional PID control
And the effect of optimization of fuzzy rotating speed control is good), therefore medium speed deviation signal of the present invention first passes through mould
Stick with paste PID and control rotating speed system, make the inhibition of torque pulsation reach optimal value, pass through Fractional Order PID the most again
Rotating speed controls, and makes rotating speed increase/land also to reach optimal value, the i.e. present invention can preferably suppress torque arteries and veins
Dynamic, rotating speed is increased/lands simultaneously and be optimized, effect of optimization is good.
Present invention also offers a kind of water pump by nine phase brushless DC motor governing systems, including above-mentioned tandem
Rotational speed governor.A kind of water pump nine phase brushless dcs shown in Figure 3, that Fig. 3 provides for the present invention
The simulation architecture schematic diagram of machine governing system；Wherein:
Speed-pi, speed-pi1, speed-pi2 tandem rotational speed governor, Reference Current,
Reference Current1, Reference Current2 reference current module, Current Controller,
Current Controller1, Current Controller2 current hysteresis-band control module, IGBT inverter,
IGBT inverter1, IGBT inverter2 inverter module, dianjizhuti motor body module.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is
With the difference of other embodiments, between each embodiment, identical similar portion sees mutually.For
For device disclosed in embodiment, owing to it corresponds to the method disclosed in Example, so the comparison described
Simply, relevant part sees method part and illustrates.
Also, it should be noted in this manual, the relational terms of such as first and second or the like is only
It is used for separating an entity or operation with another entity or operating space, and not necessarily requires or secretly
Show relation or the order that there is any this reality between these entities or operation.And, term " includes ",
" comprise " or its any other variant is intended to comprising of nonexcludability, so that include a series of wanting
Process, method, article or the equipment of element not only include those key elements, but also include being not expressly set out
Other key elements, or also include the key element intrinsic for this process, method, article or equipment.
In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that at bag
Include and the process of described key element, method, article or equipment there is also other identical element.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses this
Invention.Multiple amendment to these embodiments will be apparent for those skilled in the art
, generic principles defined herein can without departing from the spirit or scope of the present invention,
Other embodiments realize.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and
It is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (4)
1. the water pump tandem rotational speed governor of nine phase brushless DC motors, it is characterised in that bag
Include the fuzzy parameter tuning being adjusted for comparative example parameter, integral parameter and differential parameter to control
Device, the first multiplier, the second multiplier, the 3rd multiplier, for obtaining close to the reality of definite integral order
Border integration order, and according to described actual integration order, input signal is changed the fractional order of step adjustment
Integration filter module, for obtaining the actual differential order close to given differential order, and according to described reality
Border differential order carries out fractional order differential filter module, the first addition that vibration adjusts to input signal
Device and second adder, wherein:
The positive input terminal of described first adder is the given rotating speed input of described tandem rotational speed governor,
The negative input end of described first adder is the actual measurement rotating speed input of described tandem rotational speed governor；Described
The outfan of first adder respectively with the input of described fuzzy parameter tuning controller, described first
The of second input of multiplier, the second input of described second multiplier and described 3rd multiplier
Two inputs are connected；
The of the scale parameter outfan of described fuzzy parameter tuning controller and described first multiplier
One input is connected, and the integral parameter outfan of described fuzzy parameter tuning controller is taken advantage of with described second
The first input end of musical instruments used in a Buddhist or Taoist mass is connected, the differential parameter outfan of described fuzzy parameter tuning controller and institute
The first input end stating the 3rd multiplier is connected；
The outfan of described second multiplier is connected with the input of described fractional order integration filter module；
The outfan of described 3rd multiplier is connected with the input of described fractional order differential filter module；
The outfan of described first multiplier, the outfan of described fractional order integration filter module and described
The outfan of fractional order differential filter module respectively with the three of described second adder corresponding phases of input
Even, the outfan of described second adder is the outfan of described tandem rotational speed governor.
Tandem rotational speed governor the most according to claim 1, it is characterised in that also include:
First clipping module, the input of described first clipping module and the outfan phase of described second adder
Even, the outfan of described first clipping module is the outfan of described tandem rotational speed governor.
Tandem rotational speed governor the most according to claim 2, it is characterised in that described fractional order
Integration filter module includes for making described actual integration order approach described to definite integral order, and according to
Described actual integration order is changed the Integral Approximation module of step adjustment and for right to input signal
The integration inertia module that the output signal of described Integral Approximation module is finely adjusted；
The input of described Integral Approximation module is the input of described fractional order integration filter module, described
The outfan of Integral Approximation module is connected with the input of described integration inertia module, described integration inertia module
The outfan that outfan is described fractional order integration filter module；
Described fractional order differential filter module includes for making described actual differential order approach described given
Differential order, and according to described actual differential order, input signal carried out the differential that vibration adjusts and approach module
And for described differential being approached the differential inertia module that the output signal of module is finely adjusted；
Described differential approaches the input that the input of module is described fractional order differential filter module, described
The input of outfan and described differential inertia module that differential approaches module is connected, described differential inertia module
The outfan that outfan is described fractional order differential filter module.
4. a water pump is by nine phase brushless DC motor governing systems, it is characterised in that include that such as right is wanted
Seek the tandem rotational speed governor according to any one of 1-3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610414224.6A CN105958873B (en) | 2016-06-13 | 2016-06-13 | Water pump nine phase brushless DC motor governing systems and its tandem rotational speed governor |
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| CN201610414224.6A CN105958873B (en) | 2016-06-13 | 2016-06-13 | Water pump nine phase brushless DC motor governing systems and its tandem rotational speed governor |
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| JP2008141923A (en) * | 2006-12-05 | 2008-06-19 | Nifco Inc | Motor drive control device, power assist device, and responsive feedback control method |
| CN103888044A (en) * | 2014-02-25 | 2014-06-25 | 江苏大学 | Parameter self-tuning method for fuzzy PID controller |
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2016
- 2016-06-13 CN CN201610414224.6A patent/CN105958873B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008141923A (en) * | 2006-12-05 | 2008-06-19 | Nifco Inc | Motor drive control device, power assist device, and responsive feedback control method |
| CN103888044A (en) * | 2014-02-25 | 2014-06-25 | 江苏大学 | Parameter self-tuning method for fuzzy PID controller |
Non-Patent Citations (3)
| Title |
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| 梁涛年等: "分数阶系统模糊自适应分数阶PIλDμ控制器", 《北京工业大学学报》 * |
| 罗佑新: "新型分数阶PID控制器及其仿真研究", 《哈尔滨工业大学学报》 * |
| 蒋海波等: "无刷直流电机模糊控制系统的建模与仿真", 《西安交通大学学报》 * |
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| CN105958873B (en) | 2018-03-27 |
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