CN105958873B - Water pump nine phase brushless DC motor governing systems and its tandem rotational speed governor - Google Patents
Water pump nine phase brushless DC motor governing systems and its tandem rotational speed governor Download PDFInfo
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- CN105958873B CN105958873B CN201610414224.6A CN201610414224A CN105958873B CN 105958873 B CN105958873 B CN 105958873B CN 201610414224 A CN201610414224 A CN 201610414224A CN 105958873 B CN105958873 B CN 105958873B
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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 kind of tandem rotational speed governor of nine phase brushless DC motors of water pump, including for comparative example parameter, the fuzzy parameter tuning controller that integral parameter and differential parameter are adjusted, first multiplier, second multiplier, 3rd multiplier, for obtaining close to the actual integration order to definite integral order, and the fractional order integration filter module of step adjustment is changed to input signal according to actual integration order, for obtaining the actual differential order close to given differential order, and to input signal vibrate the fractional order differential filter module of adjustment according to actual differential order, first adder and second adder.The present invention can make the inhibition of torque pulsation and rotating speed increase/land while be optimized, and effect of optimization is good.The invention also discloses a kind of water pump nine phase brushless DC motor governing systems, including above tandem rotational speed governor, it may have the effect above.
Description
Technical field
The present invention relates to motor speed control field, more particularly to a kind of water pump with nine phase brushless DC motor speed governing systems
System and its tandem rotational speed governor.
Background technology
With developing rapidly for production technology, brshless DC motor is applied to production and living more and more, and such as
The present, the control accuracy that people are controlled brshless DC motor rotating speed proposed higher due to the continuous lifting of industrial production demand
It is required that.
At present, water pump is carried out with nine phase brushless DC motor governing systems using conventional PID control device to rotating speed
Control, have the advantages that it is simple in construction, be easily achieved.In rotating speed control process, certain torque is inevitably produced
Pulsation and certain rotating speed increase/land, therefore need to suppress torque pulsation and rotating speed is increased/landed carry out it is excellent
Change, but in conventional PID control, after adjustment torque pulsation diminishes, motor speed loss can increase, and adjust motor speed loss and diminish
Afterwards, torque pulsation can increase, i.e. torque pulsation can not be optimized simultaneously with motor speed loss, and effect of optimization is poor.
Therefore, how a kind of good water pump of effect of optimization nine phase brushless DC motor governing systems and its tandem are provided
Rotational speed governor is that those skilled in the art need to solve the problems, such as at present.
The content of the invention
, can be compared with it is an object of the invention to provide a kind of tandem rotational speed governor of nine phase brushless DC motors of water pump
Good is torque pulsation inhibited, while rotating speed is increased/landed and is optimized, and effect of optimization is good.It is another object of the present invention to carry
For a kind of phase brushless DC motor governing system of water pump nine including above-mentioned tandem rotational speed governor.
In order to solve the above technical problems, the invention provides a kind of tandem rotating speed of nine phase brushless DC motors of water pump
Controller, including the fuzzy parameter tuning control being adjusted for comparative example parameter, integral parameter and differential parameter
Device, the first multiplier, the second multiplier, the 3rd multiplier, for obtaining the actual integration order close to definite integral order, and
The fractional order integration filter module of step adjustment is changed to input signal, for obtaining according to the actual integration order
Close to the actual differential order of given differential order, and vibration adjustment is carried out to input signal according to the actual differential order
Fractional order differential filter module, first adder and second adder, wherein：
The positive input terminal of the first adder is the given rotating speed input of the tandem rotational speed governor, described the
The negative input end of one adder is the actual measurement rotating speed input of the tandem rotational speed governor；The output of the first adder
Hold the input with the fuzzy parameter tuning controller, the second input of first multiplier, described second respectively
Second input of the second input of multiplier and the 3rd multiplier is connected；
The scale parameter output end of the fuzzy parameter tuning controller and the first input end of first multiplier
It is connected, the integral parameter output end of the fuzzy parameter tuning controller and the first input end phase of second multiplier
Even, the differential parameter output end of the fuzzy parameter tuning controller is connected with the first input end of the 3rd multiplier；
The output end of second multiplier is connected with the input of the fractional order integration filter module；
The output end of 3rd multiplier is connected with the input of the fractional order differential filter module；
The output end of first multiplier, the output end of the fractional order integration filter module and the fractional order
The output end of differential filter module is corresponding with three inputs of the second adder respectively to be connected；
The tandem rotational speed governor also includes：
First clipping module, the input of first clipping module are connected with the output end of the second adder, institute
The output end for stating the first clipping module is the output end of the tandem rotational speed governor；
The fractional order integration filter module includes described to definite integral rank for approaching the actual integration order
It is secondary, and the Integral Approximation module of step adjustment is changed to input signal and for institute according to the actual integration order
State the integration identification loop that the output signal of Integral Approximation module is finely adjusted；
The input of the Integral Approximation module is the input of the fractional order integration filter module, and the integration is forced
The output end of near-lying mode block is connected with the input of the integration identification loop, and the output end of the integration identification loop is described point
The output end of number rank integration filter module；
The fractional order differential filter module includes being used to make the actual differential order approach the given derivative order
It is secondary, and according to the actual differential order to input signal carry out vibrate adjustment differential approach module and for described micro-
Divide and approach the differential identification loop that the output signal of module is finely adjusted；
The input that the differential approaches module is the input of the fractional order differential filter module, and the differential is forced
The output end of near-lying mode block is connected with the input of the differential identification loop, and the output end of the differential identification loop is described point
The output end of number rank differential filter module；
Wherein scale parameter, integral parameter and differential parameter export after the adjustment of fuzzy parameter tuning controller
For FKp, FKi and FKd, scale parameter, integral parameter and the differential parameter after adjustment, PID control relation are corresponded to respectively
Formula is as follows：
Wherein, KPIt is scale parameter,It is integral parameter, KPTdIt is differential parameter, e (t) is fuzzy parameter tuning
The input signal of controller；
The fuzzy parameter tuning controller includes derivative module, amplification coefficient multiplier, differential amplification coefficient multiplication
Device, the second clipping module, the 3rd clipping module, zero point retainer, fuzzy logic controller, initial proportion parameter control module,
Initial integration parameter control module, original differential parameter control module, scale parameter adjust amplification module, integral parameter is adjusted and put
Big module, differential parameter adjust amplification module, three the 4th adders；
The input of the amplification coefficient multiplier and the derivative module connects the fuzzy parameter tuning control respectively
The input of device processed；The output end of the amplification coefficient multiplier connects the input of second clipping module；The differential
The output end of module connects the input of the differential amplification coefficient multiplier；The output end of the differential amplification coefficient multiplier
Connect the input of the 3rd clipping module；After second clipping module is connected with the output end of the 3rd clipping module
It is connected with the input of the zero point retainer；The output end of the zero point retainer connects the defeated of the fuzzy logic controller
Enter end；
The output end of the fuzzy logic controller connects the scale parameter and adjusts amplification module, the integration ginseng respectively
Number adjusts amplification module, the differential parameter adjusts the input of amplification module；
Predetermined constant be separately input into the initial proportion parameter control module, the initial integration parameter control module,
The input of the original differential parameter control module；
The initial proportion parameter control module and the scale parameter adjust the output end of amplification module by one
Four adders are used as ratio output end after being added；The initial integration parameter control module and the integral parameter adjust amplification mould
The output end of block is used as integration output end after being added by the 4th adder；The original differential parameter control module and institute
State differential parameter and adjust the output end of amplification module by being used as differential output end after a 4th adder addition.
In order to solve the above technical problems, present invention also offers a kind of water pump with nine phase brushless DC motor governing systems,
Including the tandem rotational speed governor described in any of the above item.
The invention provides a kind of tandem rotational speed governor of nine phase brushless DC motors of water pump, use will be fuzzy
The mode that PID tandems rotational speed governor is connected with Fractional Order PID tandem rotational speed governor, due to can according to experimental result
Know, fuzzy tandem rotational speed governor for torque pulsation there is preferable inhibition (than conventional PID control and to divide
The inhibition of number rank PID rotating speeds control is good), Fractional Order PID tandem rotational speed governor for rotating speed increase/land with compared with
Good effect of optimization (better than the effect of optimization that conventional PID control and fuzzy rotating speed control), therefore transfer speed deviation of the present invention
Signal by fuzzy control rotating speed system, makes the inhibition of torque pulsation reach optimal value, passes through fractional order again afterwards first
PID rotating speeds control, and rotating speed is increased/is landed and also reach optimal value, i.e., the present invention can be preferably torque pulsation inhibited while right
Rotating speed, which increases/landed, to be optimized, and effect of optimization is good.Present invention also offers a kind of water pump with nine phase brushless DC motor speed governing
System, there is above-mentioned beneficial effect, will not be repeated here.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to institute in prior art and embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of emulation knot of water pump provided by the invention tandem rotational speed governor of nine phase brushless DC motors
Structure schematic diagram；
Fig. 2 is the emulation of the fuzzy parameter tuning controller in a kind of tandem rotational speed governor provided by the invention
Structural representation；
Fig. 3 is a kind of simulation architecture schematic diagram of nine phase brushless DC motor governing systems of water pump provided by the invention.
Embodiment
The core of the present invention is to provide the tandem rotational speed governors of nine phase brushless DC motors of water pump a kind of, can be compared with
Good is torque pulsation inhibited, while rotating speed is increased/landed and is optimized, and effect of optimization is good.It is another object of the present invention to carry
For a kind of phase brushless DC motor governing system of water pump nine including above-mentioned tandem rotational speed governor.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
It is shown in Figure 1 the invention provides a kind of tandem rotational speed governor of nine phase brushless DC motors of water pump,
Fig. 1 is that a kind of water pump provided by the invention is illustrated with the simulation architecture of the tandem rotational speed governor of nine phase brushless DC motors
Figure；Wherein, n-ref-given rotating speed, n-actual measurement rotating speed, Add1-first adder, Add2-second adder, fuzzy-
Fuzzy parameter tuning controller, the multipliers of Product-first, the multipliers of Product1-second, Product2-the 3rd
The scale parameter output end of multiplier, FKp-fuzzy parameter tuning controller, FKi-fuzzy parameter tuning controller
Integral parameter output end, the FKd-differential parameter output end of fuzzy parameter tuning controller, itransfer-fractional order
Integration filter module, dtransfer-fractional order differential filter module, Ttransfer Fcn3-Integral Approximation module,
Ttransfer Fcn-integration identification loop, Ttransfer Fcn4-differential approach module, TtransferFcn2-differential
Identification loop, is-output.
The tandem rotational speed governor includes being used for the mould that comparative example parameter, integral parameter and differential parameter are adjusted
Paste pid parameter setting controller, the first multiplier, the second multiplier, the 3rd multiplier, for obtaining close to giving definite integral order
Actual integration order, and the fractional order integration filter of step adjustment is changed according to actual integration order to input signal
Module, the actual differential order for obtaining close given differential order, and input signal is carried out according to actual differential order
Fractional order differential filter module, first adder and the second adder of adjustment are vibrated, wherein：
The positive input terminal of first adder is the given rotating speed input of tandem rotational speed governor, and first adder is born
Input is the actual measurement rotating speed input of tandem rotational speed governor；The output end of first adder respectively with fuzzy parameter
The input of setting controller, the second input of the first multiplier, the second input and the 3rd multiplication of the second multiplier
Second input of device is connected；
The scale parameter output end of fuzzy parameter tuning controller is connected with the first input end of the first multiplier, mould
The integral parameter output end of paste pid parameter setting controller is connected with the first input end of the second multiplier, and fuzzy parameter is whole
The differential parameter output end for determining controller is connected with the first input end of the 3rd multiplier；
The output end of second multiplier is connected with the input of fractional order integration filter module；
The output end of 3rd multiplier is connected with the input of fractional order differential filter module；
The output end of first multiplier, the output end of fractional order integration filter module and fractional order differential filter mould
The output end of block is corresponding with three inputs of second adder respectively to be connected, and the output end of second adder is tandem rotating speed
The output end of controller.
It is understood that fuzzy parameter tuning controller and the first multiplier, the second multiplier, the 3rd multiplier
Combine and constitute fuzzy tandem rotational speed governor, the first multiplier, the second multiplier, the 3rd multiplier are with dividing
Number rank integration filter module, fractional order differential filter block combiner constitute Fractional Order PID tandem rotating speed control together
Device processed, thus the present invention connected equivalent to fuzzy tandem rotational speed governor with Fractional Order PID tandem rotational speed governor after group
Into.
Wherein, fuzzy control is a kind of intelligence based on fuzzy set theory, Fuzzy Linguistic Variable and fuzzy logic inference
Energy control method, it is a kind of a kind of intelligent control method for the reasoning and thoughtcast for imitating the mankind.The control mode first will
The signal of acquisition carries out Fuzzy processing, the operating experience of staff then is weaved into fuzzy rule, by fuzzy rule to mould
Signal after paste carries out fuzzy reasoning, then exports the output quantity obtained after reasoning, so as to realize the intelligent control of apery class.
And the control of fuzzy rotating speed is to be combined fuzzy control with conventional PID control, common pid control is adjusted by fuzzy control
The size of parameters in system, and then make that control result precision is higher, and overshoot is smaller.
By experimental data, fuzzy rotating speed controls is better than Fractional Order PID rotating speed to the inhibition of torque pulsation
Control or conventional PID control, and the effect of optimization that the control of Fractional Order PID rotating speed is increased/landed to rotating speed is better than fuzzy rotating speed
Control or conventional PID control.Therefore speed error signal first passes around fuzzy parameter tuning controller in the present invention, optimizes
Torque pulsation, afterwards optimize after signal further rotating speed is increased/landed by Fractional Order PID tandem rotational speed governor into
Row optimization, it is seen that the present invention can make the inhibition of torque pulsation and rotating speed increase/land while be optimized, effect of optimization
It is good.
Wherein, rotating speed here increases or motor speed loss refers respectively to water pump with nine phase brushless DC motor shock loads
The situation of change of rotating speed when loading both of these case with anticlimax.When shock load, rotating speed increases, and now increases progress to rotating speed
Optimization refers to that caused overshoot suppresses during increasing to rotating speed, and reduces the regulating time of rotating speed；When anticlimax is born
During load, motor speed loss, now motor speed loss is optimized and refers to landing to caused maximum dynamic during motor speed loss
Amount is suppressed, and reduces the Dynamic- Recovery time of rotating speed.
It is understood that scale parameter, integral parameter and differential parameter are adjusted by fuzzy parameter tuning controller
Output is FKp, FKi and FKd after whole, corresponds to scale parameter, integral parameter and differential parameter after adjustment, PID respectively
Control relationship is as follows：
Wherein, KPIt is scale parameter,It is integral parameter, KPTdIt is differential parameter, e (t) is fuzzy parameter tuning
The input signal of controller.And it can be seen from above-mentioned relation formula, scale parameter, integral parameter and differential parameter after adjustment,
With after input signal calculus gained signal respectively it is corresponding multiplication after be added.
Shown in Figure 2, Fig. 2 is the fuzzy parameter tuning in a kind of tandem rotational speed governor provided by the invention
The simulation architecture schematic diagram of controller；Wherein, e-input, Derivative-derivative module, Gain1-amplification coefficient multiplication
Device, Gain2-differential amplification coefficient multiplier, Saturation-clipping module, Zero-Order Hold-zero point are kept
Device, Fuzzy Logic Controller-fuzzy logic controller, constant-constant, Gain3-initial proportion parameter
Control module, Gain4-initial integration parameter control module, Gain5-original differential parameter control module, Gain6-ratio
Parameter tuning amplification module, Gain7-integral parameter adjust amplification module, Gain8-differential parameter adjusts amplification module,
Add-adder.Wherein, be connected with Gain1 output end for the second clipping module, be with what Gain2 output end was connected
3rd clipping module.
From Figure 2 it can be seen that the input signal of fuzzy parameter tuning controller is after the adjusting of Gain6~Gain8,
It is corresponding with initial scale parameter, integral parameter and differential parameter be added, equivalent to have adjusted scale parameter, integral parameter with
And the size of differential parameter.Wherein, the clipping range of clipping module can be [- 3V ,+3V], and certainly, the present invention does not make spy to this
Do not limit, the present invention does not limit the numerical values recited of the quantizing factor in Gain1~Gain8 yet, and staff can be according to actual feelings
Condition is decided in its sole discretion.
Preferably, the tandem rotational speed governor also includes：
First clipping module, the input of the first clipping module are connected with the output end of second adder, the first amplitude limit mould
The output end of block is the output end of tandem rotational speed governor.
It is understood that the module can carry out amplitude modulation(PAM) to the electric current in circuit, avoid electric current is excessive from burning out water
Nine phase brushless DC motors of pump, also avoid the bringing onto load energy for causing nine phase brushless DC motors of water pump when current amplitude is too small
Power is weak, toggle speed is slow.Here clipping range can be [- 100V ,+100V], and certainly, the present invention does not limit the first amplitude limit mould
The amplitude of block limits scope, and staff can decide in its sole discretion according to actual conditions.
It is further known that fractional order integration filter module includes giving definite integral rank for approaching actual integration order
It is secondary, and the Integral Approximation module of step adjustment is changed according to actual integration order to input signal and for forcing integration
The integration identification loop that the output signal of near-lying mode block is finely adjusted；
The input of Integral Approximation module be fractional order integration filter module input, the output of Integral Approximation module
Hold and be connected with integrating the input of identification loop, the output end for integrating identification loop is the output of fractional order integration filter module
End；
Fractional order differential filter module includes being used to make actual differential order approach given differential order, and according to reality
The differential that differential order carries out vibration adjustment to input signal approaches module and the output signal for approaching differential module
The differential identification loop being finely adjusted；
The input that differential approaches module is the input of fractional order differential filter module, and differential approaches the output of module
End is connected with the input of differential identification loop, and the output end of differential identification loop is the output of fractional order differential filter module
End.
Wherein, the filter order of fractional order integration filter module and fractional order differential filter module can be set
For 7 ranks, certainly, this is not limited by the present invention, and staff can set the wave filter of two above module according to actual conditions
Order.
In addition, the scope in the present invention to definite integral order is -0.9~-1.Definite integral order is given for example, can set
For -0.985, 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, only
The normal control of tandem rotational speed governor is just can guarantee that within the range；Further, in order to ensure the tandem rotating speed control
The control accuracy height of device processed is, it is necessary to make to definite integral order in the range of -0.9~-1.Wherein, can root to definite integral order
According to any number in actual conditions selection above range, this is not limited by the present invention.In addition, staff can be according to experiment
The scope to definite integral order is drawn, the present invention is also not construed as limiting to this.
Differential order is given in the present invention and could be arranged to 0.985, the size of given differential order draws definite integral order
Size absolute value.Certainly, staff can obtain the scope of suitable given differential order according to experimental conditions, and from this
In the range of select suitably given differential order, this is not limited by the present invention.
The invention provides a kind of tandem rotational speed governor of nine phase brushless DC motors of water pump, use will be fuzzy
The mode that PID tandems rotational speed governor is connected with Fractional Order PID tandem rotational speed governor, due to can according to experimental result
Know, fuzzy tandem rotational speed governor for torque pulsation there is preferable inhibition (than conventional PID control and to divide
The inhibition of number rank PID rotating speeds control is good), Fractional Order PID tandem rotational speed governor for rotating speed increase/land with compared with
Good effect of optimization (better than the effect of optimization that conventional PID control and fuzzy rotating speed control), therefore transfer speed deviation of the present invention
Signal by fuzzy control rotating speed system, makes the inhibition of torque pulsation reach optimal value, passes through fractional order again afterwards first
PID rotating speeds control, and rotating speed is increased/is landed and also reach optimal value, i.e., the present invention can be preferably torque pulsation inhibited while right
Rotating speed, which increases/landed, to be optimized, and effect of optimization is good.
Present invention also offers a kind of water pump nine phase brushless DC motor governing systems, including above-mentioned tandem rotating speed control
Device processed.Shown in Figure 3, Fig. 3 is a kind of emulation knot of nine phase brushless DC motor governing systems of water pump provided by the invention
Structure schematic diagram；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.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
It should also be noted that, in this manual, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also the other element including being not expressly set out, or also include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except other identical element in the process including the key element, method, article or equipment being also present.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (2)
1. the tandem rotational speed governor of nine phase brushless DC motors of a kind of water pump, it is characterised in that including for comparative example
Fuzzy parameter tuning controller, the first multiplier, the second multiplication that parameter, integral parameter and differential parameter are adjusted
Device, the 3rd multiplier, for obtaining the actual integration order close to definite integral order, and according to the actual integration order pair
Input signal is changed the fractional order integration filter module of step adjustment, for obtaining the reality close to given differential order
Differential order, and according to the actual differential order to input signal carry out vibrate adjustment fractional order differential filter module,
First adder and second adder, the fuzzy parameter tuning controller multiply with first multiplier, described second
Musical instruments used in a Buddhist or Taoist mass, the 3rd multiplier combination constitute fuzzy tandem rotational speed governor together；First multiplier, institute
State the second multiplier, the 3rd multiplier and the fractional order integration filter module, the fractional order differential filter mould
Block, which is combined, constitutes Fractional Order PID tandem rotational speed governor；Wherein：
The positive input terminal of the first adder is the given rotating speed input of the tandem rotational speed governor, and described first adds
The negative input end of musical instruments used in a Buddhist or Taoist mass is the actual measurement rotating speed input of the tandem rotational speed governor；The output end of the first adder point
The second input, second multiplication of input, first multiplier not with the fuzzy parameter tuning controller
Second input of the second input of device and the 3rd multiplier is connected；
The scale parameter output end of the fuzzy parameter tuning controller and the first input end phase of first multiplier
Even, the integral parameter output end of the fuzzy parameter tuning controller is connected with the first input end of second multiplier,
The differential parameter output end of the fuzzy parameter tuning controller is connected with the first input end of the 3rd multiplier；
The output end of second multiplier is connected with the input of the fractional order integration filter module；
The output end of 3rd multiplier is connected with the input of the fractional order differential filter module；
The output end of first multiplier, the output end of the fractional order integration filter module and the fractional order differential
The output end of filter module is corresponding with three inputs of the second adder respectively to be connected；
The tandem rotational speed governor also includes the first clipping module, the input of first clipping module and described second
The output end of adder is connected, and the output end of first clipping module is the output end of the tandem rotational speed governor；
The fractional order integration filter module include being used for approaching the actual integration order it is described to definite integral order, and
The Integral Approximation module of step adjustment is changed to input signal and for the product according to the actual integration order
Divide and approach the integration identification loop that the output signal of module is finely adjusted；
The input of the Integral Approximation module be the fractional order integration filter module input, the Integral Approximation mould
The output end of block is connected with the input of the integration identification loop, and the output end of the integration identification loop is the fractional order
The output end of integration filter module；
The fractional order differential filter module includes being used to make the actual differential order approach the given differential order, and
The differential for input signal vibrate adjustment according to the actual differential order approaches module and for forcing the differential
The differential identification loop that the output signal of near-lying mode block is finely adjusted；
The input that the differential approaches module is the input of the fractional order differential filter module, and the differential approaches mould
The output end of block is connected with the input of the differential identification loop, and the output end of the differential identification loop is the fractional order
The output end of differential filter module；
Wherein scale parameter, integral parameter and differential parameter export after the adjustment of fuzzy parameter tuning controller is
FKp, FKi and FKd, scale parameter, integral parameter and differential parameter after adjustment, PID control relational expression are corresponded to respectively
It is as follows：
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Wherein, KPIt is scale parameter,It is integral parameter, KPTdIt is differential parameter, e (t) controls for fuzzy parameter tuning
The input signal of device；
The fuzzy parameter tuning controller include derivative module, amplification coefficient multiplier, differential amplification coefficient multiplier,
It is second clipping module, the 3rd clipping module, zero point retainer, fuzzy logic controller, initial proportion parameter control module, initial
Integral parameter control module, original differential parameter control module, scale parameter adjust amplification module, integral parameter adjusts amplification mould
Block, differential parameter adjust amplification module, three the 4th adders；
The input of the amplification coefficient multiplier and the derivative module connects the fuzzy parameter tuning controller respectively
Input；The output end of the amplification coefficient multiplier connects the input of second clipping module；The derivative module
Output end connect the input of the differential amplification coefficient multiplier；The output end connection of the differential amplification coefficient multiplier
The input of 3rd clipping module；The connected rear and institute of the output end of second clipping module and the 3rd clipping module
State the input connection of zero point retainer；The output end of the zero point retainer connects the input of the fuzzy logic controller
End；
The output end of the fuzzy logic controller connects the scale parameter respectively, and to adjust amplification module, the integral parameter whole
Determine amplification module, the differential parameter adjusts the input of amplification module；
Predetermined constant is separately input into the initial proportion parameter control module, the initial integration parameter control module, described
The input of original differential parameter control module；
The output end that the initial proportion parameter control module and the scale parameter adjust amplification module is added by one the 4th
Musical instruments used in a Buddhist or Taoist mass is used as ratio output end after being added；The initial integration parameter control module and the integral parameter adjust amplification module
Output end is used as integration output end after being added by the 4th adder；The original differential parameter control module and described micro-
The output end of parameter tuning amplification module is divided to be used as differential output end after being added by the 4th adder.
2. nine phase brushless DC motor governing systems of a kind of water pump, it is characterised in that including series connection as claimed in claim 1
Formula 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
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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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