CN108631671A - A kind of motor speed control method based on fuzzy compensation - Google Patents
A kind of motor speed control method based on fuzzy compensation Download PDFInfo
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- CN108631671A CN108631671A CN201810346284.8A CN201810346284A CN108631671A CN 108631671 A CN108631671 A CN 108631671A CN 201810346284 A CN201810346284 A CN 201810346284A CN 108631671 A CN108631671 A CN 108631671A
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- fuzzy
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Fuzzy Systems (AREA)
- Control Of Electric Motors In General (AREA)
- Feedback Control In General (AREA)
Abstract
The electric machine speed regulation control method based on fuzzy compensation and two dimension fuzzy PI that the invention discloses a kind of, it is controlled including fuzzy compensation, the fuzzy compensation control provides suitable small electromotor tachometer value to the disturbance of wind speed, it is added with the output motor rotating speed value of two dimension fuzzy PI controls, the reference value as motor speed；Two dimension fuzzy PI controls, the two dimension fuzzy PI controls control the bi-mode control formed by two dimension fuzzy control and PI, motor speed variation range it is larger when using two dimension fuzzy control, and it is smaller when, then PI controls are smoothly switched to by a nonlinear function.A kind of electric machine speed regulation control method based on fuzzy compensation and two dimension fuzzy PI of the present invention, both the difficulty designed in non-linear DC-motor governing system had been solved, and improve the static and dynamic performance of system, enable the wind speed fast and stable of output near requiring, reduces output wind speed and interfered by external environment.
Description
Technical field
The present invention relates to motor speed technical field of system control, specially a kind of to be based on fuzzy compensation and two dimension fuzzy-
The motor speed control method of PI.
Background technology
By increasing the circulation of air, the dust crossed in air filtering improves the method for factory air quality, has obtained wide
General application.Motor speed control can change air passage rates, and the filtrating chip of wind turbine front end can filter out in air
Dust.The control mode changes wind speed by regulation motor rotating speed, to change the speed of air flowing, passes through filtering
Based filtration reduces dust in air concentration.
But electric machine speed regulation is a nonlinear system, and under the influence of air filter chip, motor speed and reality
There is sizable range between the wind speed of border, this considerably increases the control difficulties of motor speed regulation system.Based on linearisation wind turbine
Model and the traditional PID control mode designed, increase the complexity of system, reduce the performance of controller.
The advantages that fuzzy control is without mathematical models, strong robustness so that it is obtained in Control of Nonlinear Systems field
The favor of researcher is arrived.Currently, in the theoretical research of electric machine speed regulation control method, fuzzy control and its with other tradition
The control mode that Linear Control mode is combined, is widely used.
Invention content
The electric machine speed regulation control method based on fuzzy compensation and two dimension fuzzy-PI that the purpose of the present invention is to provide a kind of,
To solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides the following technical solutions：It is a kind of based on fuzzy compensation and two dimension fuzzy-PI
Electric machine speed regulation control method, includes the following steps：
First, fuzzy compensation control of the present invention is first introduced.Fuzzy compensation control of the present invention can be effective
Avoid the influence that the interference of external environment changes wind speed, the suitable fuzzy compensation factor provided to the disturbance of wind speed, and with
The output motor rotating speed value of two dimension fuzzy-PI controls is added, as the reference value of fan operation wind speed, when wind speed reduces, mould
Paste compensation control output, conversely, output is negative, makes the reduction of motor speed value, to maintain wind just to increase, motor speed value
Fast is constant.
Then, then two dimension fuzzy-PI of the present invention control is introduced.Two dimension fuzzy-PI of the present invention is controlled
The bi-mode control formed is controlled by two dimension fuzzy control and PI, PI controllers are dry in idling slow speed system in order to make up fuzzy controller
Disturb hour, the bad disadvantage of control effect and design, use fuzzy control when the range of wind speed variation is larger, and it is smaller
When, then smoothly it is switched to PI controls by following functions.
βu=λ (x, α, c) βF+(1-λ(x,α,c))βPI (1)
Wherein
X is air-borne dust concentration changing value e in formula (2), and c is the average value of the low speed value and middle low speed value of motor speed, α
For transitional region handoff factor, α is smaller, and the effect for increasing fuzzy control with error slowly increases.
Description of the drawings
Fig. 1 is fuzzy compensation control rule table；
Fig. 2 is two dimension fuzzy-PI control rule tables；
Fig. 3 is the motor speed regulation system overall structure diagram designed based on the method for the invention.
In figure：The variation of e air-borne dust concentration, ec air-borne dusts change rate of concentration, βPIThe motor speed of PI control outputs
Value, βFThe motor speed value of fuzzy control output, βuThe motor speed value of two dimension fuzzy-PI control output, Δ β compensating rotational speeds value,
βdThe tachometer value of motor speed reference value, β motor actual changes.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments；It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 3 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of electricity based on fuzzy compensation and two dimension fuzzy-PI
Machine method for controlling speed regulation, including fuzzy compensation control, fuzzy compensation are controlled with the wind speed v (k-1) of last moment as input quantity 1,
Fuzzy subset be VL (very little), S (small), M (in), L (big), HL (very big) }, the output motor controlled with two dimension fuzzy-PI
Tachometer value is input quantity 2, and fuzzy subset is { NB, NM, NS, ZO, PS, PM, PB }, using compensating rotational speed value Δ β as output quantity, is obscured
Subset is { BNB, SNB, BNM, SNM, BNS, SNS, Z0, SPS, BPS, SPM }, and the membership function of input/output amount is all made of
Trigonometric function, ambiguity solution method are the method for average, and clarifier prolonged use causes that a large amount of dust can be adsorbed on filtrating chip,
Fuzzy compensation control can effectively avoid the influence that the interference of external environment changes wind speed, be provided properly to the disturbance of wind speed
Compensation factor Δ β, and be added with the output motor rotating speed value β u of two dimension fuzzy-PI control, the reference value beta as motor speed
D, when wind speed reduces, fuzzy compensation control output, conversely, output is negative, makes motor speed just to increase, motor speed value
Value reduces, to maintain the constant of wind speed；Two dimension fuzzy-PI controls, two dimension fuzzy-PI controllers of the present invention are by two dimension
The dual mode controller of fuzzy and PI compositions, using air-borne dust concentration variation e and air-borne dust change rate of concentration ec as input quantity, electricity
Machine tachometer value β u are output valve, and the fuzzy son of input/output amount is { NB, NM, NS, ZO, PS, PM, PB }, and membership function is all made of
Trigonometric function, ambiguity solution method still select the method for average, and it is good, anti-interference that two dimension fuzzy-PI controls combine fuzzy control robustness
Ability is strong, controls stable state accuracy height without accurate mathematical model and PI, can quickly eliminate the characteristics of steady-state error, and the two is formed
Have complementary advantages, improves the control accuracy of system, two-dimensional fuzzy controller can strictly reflect output quantity in controlled process
Dynamic characteristic, it is better than a D controller more in control effect, and PI controllers are to make up fuzzy controller low
Speed system interfere hour, the bad disadvantage of control effect and design, when wind speed variation range it is larger when use fuzzy control,
And when smaller, then smoothly it is switched to PI controls by following functions；
βu=λ (x, α, c) βF+(1-λ(x,α,c))βPI (1)
Wherein
X is air-borne dust concentration changing value e in formula (2), and c is the average value of the low speed value and middle low speed value of motor speed, and α was
Region handoff factor is crossed, α is smaller, and the effect for increasing fuzzy control with error slowly increases.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms；Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention, and any reference signs in the claims should not be construed as limiting the involved claims；
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (3)
1. a kind of motor speed control method based on fuzzy compensation, it is characterised in that：Fuzzy compensation there are two input variable and
One output variable, the wind speed v (k-1) that fuzzy compensation controls above a moment are input quantity 1, and fuzzy subset is { VL (very little), S
(small), M (in), L (big), HL (very big) }, using the output motor rotating speed value of two dimension fuzzy-PI controls as input quantity 2, obscure son
Collection be { NB, NM, NS, ZO, PS, PM, PB }, using fuzzy compensation motor speed value Δ β as output quantity, fuzzy subset be BNB,
SNB, BNM, SNM, BNS, SNS, ZO, SPS, BPS, SPM, BPM, SPB, BPB }, the membership function of input/output amount is all made of
Trigonometric function, ambiguity solution method are the method for average, and fuzzy compensation control can effectively avoid the interference of external environment from becoming wind speed
The influence of change provides suitable fuzzy compensation factor Δ β, and the output motor controlled with two dimension fuzzy-PI to the disturbance of wind speed
Tachometer value βuIt is added, the reference value beta as fan operation wind speedd, when wind speed reduces, fuzzy compensation control output is just, to make electricity
Machine tachometer value increases, conversely, output is negative, makes the reduction of motor speed value, to maintain the constant of wind speed；Two dimension fuzzy-PI controls
System, two dimension fuzzy-PI controllers of the present invention are by the fuzzy dual mode controller formed with PI of two level, with air-borne dust concentration
Variation e and air-borne dust change rate of concentration ec is input quantity, motor speed value βuFor output valve, input/output amount obscures son and is
{ NB, NM, NS, ZO, PS, PM, PB }, membership function are all made of trigonometric function, and ambiguity solution method still selects the method for average, two-dimentional mould
Paste-PI controls combine good fuzzy control robustness, strong antijamming capability, without accurate mathematical model and PI control stable state essences
Degree is high, can quickly eliminate the characteristics of steady-state error, and the two, which is formed, to have complementary advantages, and improves the control accuracy of system, two dimension fuzzy
Controller can strictly reflect the dynamic characteristic of output quantity in controlled process, better than a D controller in control effect
It is more, and PI controllers be in order to make up fuzzy controller idling slow speed system interfere hour, the bad disadvantage of control effect and design
, use fuzzy control when the range of wind speed variation is larger, and it is smaller when, then be smoothly switched to PI controls by following functions
System；
βu=λ (x, α, c) βF+(1-λ(x,α,c))βPI (1)
Wherein
X is air-borne dust concentration changing value e in formula (2), and c is the average value of the low speed value and middle low speed value of motor speed, and α was
Region handoff factor is crossed, α is smaller, and the effect for increasing fuzzy control with error slowly increases.
2. a kind of motor speed control method based on fuzzy compensation and two dimension fuzzy-PI according to claim 1, special
Sign is：The fuzzy compensation controller, fuzzy compensation controller can effectively avoid the interference of external environment from becoming wind speed
The influence of change provides the suitable fuzzy compensation factor, the output motor rotating speed with two dimension fuzzy-PI controllers to the disturbance of wind speed
Value is added, the reference value as motor speed.
3. a kind of motor speed control method based on fuzzy compensation and fuzzy-PI according to claim 1, feature exist
In：Two dimension fuzzy-PI the controllers combine good fuzzy control robustness, strong antijamming capability, are not necessarily to accurate mathematical modulo
Type and PI control stable state accuracies are high, can quickly eliminate the characteristics of steady-state error.
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| CN201810346284.8A CN108631671A (en) | 2018-04-18 | 2018-04-18 | A kind of motor speed control method based on fuzzy compensation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111240192A (en) * | 2018-11-28 | 2020-06-05 | 中国科学院沈阳自动化研究所 | Smooth switching function-based target value control method for transition process |
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