CN205427646U - Six phase brushless DC motor for water pump and fuzzy PI rotary speed controller thereof - Google Patents
Six phase brushless DC motor for water pump and fuzzy PI rotary speed controller thereof Download PDFInfo
- Publication number
- CN205427646U CN205427646U CN201620252381.7U CN201620252381U CN205427646U CN 205427646 U CN205427646 U CN 205427646U CN 201620252381 U CN201620252381 U CN 201620252381U CN 205427646 U CN205427646 U CN 205427646U
- Authority
- CN
- China
- Prior art keywords
- outfan
- fuzzy
- input
- multiplier
- rotational speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The utility model discloses a six phase brushless DC motor's fuzzy PI rotary speed controller for the water pump, including being used for according to six phase brushless DC motor's water pump the for preset rotational speed and surveying the first adder that the rotational speed obtained the rotational speed deviation, the fuzzy logic control module, the PI controller, an output for obtaining output that absolute value that the absolute value of the absolute value of rotational speed deviation was asked for the module and was used for the rotational speed deviation is greater than control fuzzy logic control module when presetting the discrepancy is as fuzzy PI rotary speed controller, the absolute value of rotational speed deviation is lighter than the control switch of the output of control PI controller when presetting the discrepancy as fuzzy PI rotary speed controller's output. The utility model discloses adopt fuzzy control when the rotational speed deviation is great, has reduced the overshoot, adopt PI control when the rotational speed deviation is less, guaranteed fuzzy PI rotary speed controller's steady state stability. The utility model also discloses a six phase brushless DC motor for the water pump of including above -mentioned fuzzy PI rotary speed controller.
Description
Technical field
This utility model relates to rotating speed and controls technical field, particularly relates to the fuzzy/PI rotational speed governor of a kind of water pump six phase brushless DC motors.This utility model further relates to a kind of water pump six phase brushless DC motors.
Background technology
Water pump is a kind of motor not having brush and diverter with six phase brushless DC motors, for this motor, the output of its rotating speed is the most stably one of important references of its performance, therefore needs to be controlled the water pump rotating speed of six phase brushless DC motors by rotational speed governor.At present, water pump mainly uses conventional PID control to carry out rotating speed control with six phase brushless DC motors, and conventional PID control has the features such as easily realize and robustness is good, but conventional PID control belongs to Linear Control, although preferably, but overshoot is big for static stability.
Therefore, how providing a kind of water pump six phase brushless DC motors that can solve the problem that the problems referred to above and fuzzy/PI rotational speed governor thereof is the problem that those skilled in the art are presently required solution.
Utility model content
The purpose of this utility model is to provide a kind of water pump six phase brushless DC motors and fuzzy/PI rotational speed governor thereof, fuzzy control is used when rotating speed deviation is bigger, reduce overshoot, use when rotating speed deviation is less PI to control, it is ensured that the static stability of fuzzy/PI rotational speed governor.
For solving above-mentioned technical problem, this utility model provides the fuzzy/PI rotational speed governor of a kind of water pump six phase brushless DC motors, including: for obtaining the first adder of rotating speed deviation with the given rotating speed of six phase brushless DC motors and actual measurement rotating speed according to described water pump, fuzzy logic control modular, PI controller, for obtain the absolute value of the absolute value of described rotating speed deviation ask for module and for the absolute value of described rotating speed deviation more than predetermined deviation value time control the outfan of the described fuzzy logic control modular outfan as described fuzzy/PI rotational speed governor, the outfan control switch as the outfan of described fuzzy/PI rotational speed governor of described PI controller is controlled when the absolute value of described rotating speed deviation is less than described predetermined deviation value；Wherein:
The positive input terminal of described first adder is the given rotating speed input of described fuzzy/PI rotational speed governor, and the negative input end of described first adder is the actual measurement rotating speed input of described fuzzy/PI rotational speed governor；The input that the outfan of described first adder asks for module with the input of described fuzzy logic control modular, the input of described PI controller and described absolute value respectively is connected；
The first of described control switch not moved end is connected with the outfan of described fuzzy logic control modular, the second of described control switch not moved end is connected with the outfan of described PI controller, the described moved end outfan as described fuzzy/PI rotational speed governor controlling switch；The outfan that the described control end controlling switch asks for module with described absolute value is connected.
Preferably, also include:
First clipping module, the input of described first clipping module is connected with the described moved end controlling switch, and the outfan of described first clipping module is as the outfan of described fuzzy/PI rotational speed governor.
Preferably, described fuzzy logic control modular includes the first multiplier, the second multiplier, differentiator, the second clipping module, the 3rd clipping module, fuzzy logic controller and the 3rd multiplier；Wherein:
The input of described first multiplier is connected with the outfan of described first adder, and the outfan of described first multiplier is connected with the input of described second clipping module；
The input of described second multiplier is connected with the outfan of described first adder, and the outfan of described second multiplier is connected with the input of described differentiator, and the outfan of described differentiator is connected with the input of described 3rd clipping module；
The input of described fuzzy logic controller outfan with the outfan of described second clipping module and described 3rd clipping module respectively is connected, and the outfan of described fuzzy logic controller is connected with the input of described 3rd multiplier；
The outfan that outfan is described fuzzy logic control modular of described 3rd multiplier.
Preferably, described PI controller includes the 4th multiplier, the 5th multiplier, integrator and second adder；Wherein:
The described input of the 4th multiplier is connected with the outfan of described first adder, and the described outfan of the 4th multiplier is connected with the positive input terminal of described second adder；
The described input of the 5th multiplier is connected with the outfan of described first adder, and the described outfan of the 5th multiplier is connected with the input of described integrator；
The outfan of described integrator is connected with the negative input end of described second adder；
The outfan of described second adder is the outfan of described PI controller.
For solving above-mentioned technical problem, this utility model additionally provides a kind of water pump six phase brushless DC motors, including the fuzzy/PI rotational speed governor as described in any of the above item.
This utility model provides a kind of water pump six phase brushless DC motors and fuzzy/PI rotational speed governor thereof, when the absolute value of rotating speed deviation is more than predetermined deviation value, fuzzy logic control modular is used to carry out rotating speed control, when the absolute value of rotating speed deviation is less than predetermined deviation value, PI controller is used to carry out rotating speed control；I.e. this utility model uses fuzzy control when rotating speed deviation is bigger, reduces overshoot, uses PI to control when rotating speed deviation is less, it is ensured that the static stability of fuzzy/PI rotational speed governor.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, the accompanying drawing used required in prior art and embodiment will be briefly described below, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The structural representation of the fuzzy/PI rotational speed governor of a kind of water pump six phase brushless DC motors that Fig. 1 provides for this utility model；
The phantom structural representation of the fuzzy/PI rotational speed governor of a kind of water pump six phase brushless DC motors that Fig. 2 provides for this utility model；
The structural representation of a kind of water pump revolution speed control system of six phase brushless DC motors that Fig. 3 provides for this utility model；
Wherein, in Fig. 2-Fig. 3:
nullN-ref given rotating speed、N surveys rotating speed、Add1 first adder、Add2 second adder、Gain1 the first multiplier、Gain2 the second multiplier、Gain3 the 3rd multiplier、Gain4 the 4th multiplier、Gain5 the 5th multiplier、Abs absolute value asks for module、Derivative differentiator、Integrator integrator、Saturation1 the first clipping module、Saturation2 the second clipping module、Saturation3 the 3rd clipping module、FuzzyLogicController fuzzy logic controller、Switch controls switch、Is exports electric current、Speed-pi obscures/PI rotational speed governor、ReferenceCurrent reference current module，IGBTinverter inverter module、Dianjizhuti motor body module.
Detailed description of the invention
Core of the present utility model is to provide a kind of water pump six phase brushless DC motors and fuzzy/PI rotational speed governor thereof, fuzzy control is used when rotating speed deviation is bigger, reduce overshoot, use when rotating speed deviation is less PI to control, it is ensured that the static stability of fuzzy/PI rotational speed governor.
For making the purpose of this utility model embodiment, technical scheme and advantage clearer, below in conjunction with the accompanying drawing in this utility model embodiment, technical scheme in this utility model embodiment is clearly and completely described, obviously, described embodiment is a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
This utility model provides the fuzzy/PI rotational speed governor of a kind of water pump six phase brushless DC motors, shown in Figure 1, the structural representation of the fuzzy/PI rotational speed governor of a kind of water pump six phase brushless DC motors that Fig. 1 provides for this utility model；
This fuzzy/PI rotational speed governor includes: for obtaining the first adder 11 of rotating speed deviation according to the water pump given rotating speed of six phase brushless DC motors and actual measurement rotating speed, fuzzy logic control modular 12, PI controller 13, for obtain the absolute value of the absolute value of rotating speed deviation ask for module 15 and for the absolute value of rotating speed deviation more than the outfan of predetermined deviation value time control fuzzy logic control modular 12 as obscuring/the outfan of PI rotational speed governor, the absolute value of rotating speed deviation is less than the outfan control switch 14 as the outfan of fuzzy/PI rotational speed governor controlling PI controller 13 during predetermined deviation value；Wherein:
The positive input terminal of first adder 11 is the given rotating speed input of fuzzy/PI rotational speed governor, and the negative input end of first adder 11 is the actual measurement rotating speed input of fuzzy/PI rotational speed governor；The input that the outfan of first adder 11 asks for module 15 with input, the input of PI controller 13 and the absolute value of fuzzy logic control modular 12 respectively is connected；
The first of control switch 14 not moved end is connected with the outfan of fuzzy logic control modular 12, and the second of control switch 14 not moved end is connected with the outfan of PI controller 13, controls the moved end switching 14 outfan as fuzzy/PI rotational speed governor；The control end of control switch 14 is asked for the outfan of module 15 and is connected with absolute value.
Wherein, predetermined deviation value can be 3r/min, and certainly, the size of predetermined deviation value is not specially limited by this utility model, and staff can be according to practical situation sets itself.
It is understood that fuzzy logic control modular 12 can carry out fuzzy control to the water pump rotating speed of six phase brushless DC motors, PI controller 13 can carry out PI control to the water pump rotating speed of six phase brushless DC motors.Wherein, fuzzy control is a kind of intelligent control method based on fuzzy set theory, Fuzzy Linguistic Variable and fuzzy logic inference, and it 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 weaved into fuzzy rule, by fuzzy rule, the signal after obscuring being carried out fuzzy reasoning, the output that then will obtain after reasoning exports, thus realizes the Based Intelligent Control of apery class.
It is further known that, the response speed of fuzzy control is fast, it is possible to reduce the adjustment time, exports rational control signal, and PI controls, as a kind of Linear Control, have higher robustness and static stability, it is possible to meet most control requirement.This utility model, when rotating speed deviation is big, uses fuzzy control, reduces overshoot；In rotating speed deviation hour, PI is used to control, it is ensured that static stability；As can be seen here, the advantage that fuzzy/PI rotational speed governor that this utility model provides has had both the above control method concurrently.
As preferably, this fuzzy/PI rotational speed governor also includes:
First clipping module 16, the input of the first clipping module 16 is connected with the moved end controlling switch 14, and the outfan of the first clipping module 16 is as the outfan of fuzzy/PI rotational speed governor.
It is understandable that, first clipping module 16 can carry out amplitude modulation(PAM) to the electric current in circuit, avoiding that electric current is excessive burns out water pump six phase brushless DC motors, the carrying load ability of water pump six phase brushless DC motors is weak, toggle speed is slow also to avoid current amplitude to cause time too small.Can set the amplitude modulation range of the first clipping module 16 as-35～+35V, this scope can be changed according to practical situation.Output electric current Is is reference current, as the input of reference current module.
Shown in Figure 2, the phantom structural representation of the fuzzy/PI rotational speed governor of a kind of water pump six phase brushless DC motors that Fig. 2 provides for this utility model.
It is further known that, fuzzy logic control modular 12 here includes the first multiplier, the second multiplier, differentiator, the second clipping module, the 3rd clipping module, fuzzy logic controller and the 3rd multiplier；Wherein:
The input of the first multiplier is connected with the outfan of first adder 11, and the outfan of the first multiplier and the input of the second clipping module are connected；
The input of the second multiplier is connected with the outfan of first adder 11, and the outfan of the second multiplier is connected with the input of differentiator, and the outfan of differentiator and the input of the 3rd clipping module are connected；
The input of fuzzy logic controller is connected with the outfan of the second clipping module and the outfan of the 3rd clipping module respectively, and the outfan of fuzzy logic controller and the input of the 3rd multiplier are connected；
The outfan that outfan is fuzzy logic control modular 12 of the 3rd multiplier.
Wherein, the effect of the first multiplier is to make rotating speed deviation be multiplied with the first quantizing factor of input variable, the effect of the second multiplier is to make rotating speed deviation be multiplied with the second quantizing factor of input variable, and the effect of the 3rd multiplier is that the output controlled quentity controlled variable making fuzzy logic controller is multiplied with the 3rd quantizing factor.
Here the first quantizing factor is 0.01, and the second quantizing factor is 0.0001, and the 3rd quantizing factor is 150.Certainly, the concrete numerical value of each quantizing factor is not limited by this utility model, and staff can be according to experimental result sets itself.
It is further known that, PI controller 13 here includes the 4th multiplier, the 5th multiplier, integrator and second adder；Wherein:
The input of the 4th multiplier is connected with the outfan of first adder 11, and the outfan of the 4th multiplier is connected with the positive input terminal of second adder；
The input of the 5th multiplier is connected with the outfan of first adder 11, and the outfan of the 5th multiplier is connected with the input of integrator；
The outfan of integrator is connected with the negative input end of second adder；
The outfan of second adder is the outfan of PI controller 13.
Wherein, the effect of the 4th multiplier is to make rotating speed deviation be multiplied with Proportional coefficient K p, and the effect of the 5th multiplier is to make rotating speed deviation be multiplied with integral coefficient Ki.Wherein, Kp=1.5, Ki=0.01.Certainly, the concrete numerical value of each coefficient is not limited by this utility model, and staff can be according to experimental result sets itself.
This utility model provides the fuzzy/PI rotational speed governor of a kind of water pump six phase brushless DC motors, when the absolute value of rotating speed deviation is more than predetermined deviation value, fuzzy logic control modular is used to carry out rotating speed control, when the absolute value of rotating speed deviation is less than predetermined deviation value, PI controller is used to carry out rotating speed control；I.e. this utility model uses fuzzy control when rotating speed deviation is bigger, reduces overshoot, uses PI to control when rotating speed deviation is less, it is ensured that the static stability of fuzzy/PI rotational speed governor.
This utility model additionally provides a kind of water pump six phase brushless DC motors, including above-mentioned fuzzy/PI rotational speed governor.
It is understood that fuzzy/PI rotational speed governor is positioned at the water pump revolution speed control system with six phase brushless DC motors, shown in Figure 3, the structural representation of a kind of water pump revolution speed control system of six phase brushless DC motors that Fig. 3 provides for this utility model.
It should be noted that, in this manual, the relational terms of such as first and second or the like is used merely to separate an entity or operation with another entity or operating space, and not necessarily requires or imply the relation or sequentially that there is any this reality between these entities or operation.And, term " includes ", " comprising " or its any other variant are intended to comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include those key elements, but also include other key elements being not expressly set out, 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 there is also other identical element in including the process of described key element, method, article or equipment.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses this utility model.Multiple amendment to these embodiments will be apparent from for those skilled in the art, and generic principles defined herein can realize in the case of without departing from spirit or scope of the present utility model in other embodiments.Therefore, this utility model is not intended to be limited to the embodiments shown herein, and is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (5)
1. the water pump fuzzy/PI rotational speed governor of six phase brushless DC motors, it is characterized in that, including: for obtaining the first adder of rotating speed deviation with the given rotating speed of six phase brushless DC motors and actual measurement rotating speed according to described water pump, fuzzy logic control modular, PI controller, for obtain the absolute value of the absolute value of described rotating speed deviation ask for module and for the absolute value of described rotating speed deviation more than predetermined deviation value time control the outfan of the described fuzzy logic control modular outfan as described fuzzy/PI rotational speed governor, the outfan control switch as the outfan of described fuzzy/PI rotational speed governor of described PI controller is controlled when the absolute value of described rotating speed deviation is less than described predetermined deviation value；Wherein:
The positive input terminal of described first adder is the given rotating speed input of described fuzzy/PI rotational speed governor, and the negative input end of described first adder is the actual measurement rotating speed input of described fuzzy/PI rotational speed governor；The input that the outfan of described first adder asks for module with the input of described fuzzy logic control modular, the input of described PI controller and described absolute value respectively is connected；
The first of described control switch not moved end is connected with the outfan of described fuzzy logic control modular, the second of described control switch not moved end is connected with the outfan of described PI controller, the described moved end outfan as described fuzzy/PI rotational speed governor controlling switch；The outfan that the described control end controlling switch asks for module with described absolute value is connected.
Fuzzy/PI 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 is connected with the described moved end controlling switch, and the outfan of described first clipping module is as the outfan of described fuzzy/PI rotational speed governor.
Fuzzy/PI rotational speed governor the most according to claim 2, it is characterized in that, described fuzzy logic control modular includes the first multiplier, the second multiplier, differentiator, the second clipping module, the 3rd clipping module, fuzzy logic controller and the 3rd multiplier；Wherein:
The input of described first multiplier is connected with the outfan of described first adder, and the outfan of described first multiplier is connected with the input of described second clipping module；
The input of described second multiplier is connected with the outfan of described first adder, and the outfan of described second multiplier is connected with the input of described differentiator, and the outfan of described differentiator is connected with the input of described 3rd clipping module；
The input of described fuzzy logic controller outfan with the outfan of described second clipping module and described 3rd clipping module respectively is connected, and the outfan of described fuzzy logic controller is connected with the input of described 3rd multiplier；
The outfan that outfan is described fuzzy logic control modular of described 3rd multiplier.
Fuzzy/PI rotational speed governor the most according to claim 3, it is characterised in that described PI controller includes the 4th multiplier, the 5th multiplier, integrator and second adder；Wherein:
The described input of the 4th multiplier is connected with the outfan of described first adder, and the described outfan of the 4th multiplier is connected with the positive input terminal of described second adder；
The described input of the 5th multiplier is connected with the outfan of described first adder, and the described outfan of the 5th multiplier is connected with the input of described integrator；
The outfan of described integrator is connected with the negative input end of described second adder；
The outfan of described second adder is the outfan of described PI controller.
5. water pump six phase brushless DC motors, it is characterised in that include the fuzzy/PI rotational speed governor as according to any one of claim 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620252381.7U CN205427646U (en) | 2016-03-28 | 2016-03-28 | Six phase brushless DC motor for water pump and fuzzy PI rotary speed controller thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620252381.7U CN205427646U (en) | 2016-03-28 | 2016-03-28 | Six phase brushless DC motor for water pump and fuzzy PI rotary speed controller thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205427646U true CN205427646U (en) | 2016-08-03 |
Family
ID=56522688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620252381.7U Expired - Fee Related CN205427646U (en) | 2016-03-28 | 2016-03-28 | Six phase brushless DC motor for water pump and fuzzy PI rotary speed controller thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205427646U (en) |
-
2016
- 2016-03-28 CN CN201620252381.7U patent/CN205427646U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Bodson et al. | Nonlinear speed observer for high-performance induction motor control | |
| CN106130418B (en) | Steady electromagnetic braking method and apparatus suitable for brshless DC motor | |
| CN109067217B (en) | Design method of linear active disturbance rejection controller of three-phase voltage type PWM rectifier | |
| CN103973192A (en) | Method for optimizing DTC system of six-phase asynchronous motor | |
| CN104977850B (en) | It is a kind of based on fractional order fallout predictor without Time-delay Robust control method of servo motor | |
| CN105897072A (en) | Nine-phase brushless DC motor, speed regulation system and fractional order rotating speed controller | |
| CN205427646U (en) | Six phase brushless DC motor for water pump and fuzzy PI rotary speed controller thereof | |
| CN105629737B (en) | A kind of diesel locomotive asynchronous machine internal model control method | |
| Nurettin et al. | High-performance induction motor speed control using a robust hybrid controller with a supertwisting sliding mode load disturbance observer | |
| Addasi | Modelling and Simulation of DC-Motor Electric Drive Control System with Variable Moment of Inertia | |
| Zhang et al. | Novel reaching law-based sliding-mode load torque observer for PMSM | |
| CN106100478A (en) | A kind of control method of permagnetic synchronous motor | |
| CN115800328A (en) | Method, device and medium for controlling unbalance of three-phase four-leg full-bridge inverter | |
| CN205581669U (en) | Six phase brushless DC motor for water pump and dual control rotary speed controller thereof | |
| CN205453567U (en) | Six phase brushless DC motor for water pump and neural network speed control system thereof | |
| CN109687745A (en) | A kind of single-phase inverter control method | |
| Kumar et al. | Modeling & simulation of pmsm drives with fuzzy logic controller | |
| Mohanty et al. | Robust control of a feedback linearized induction motor through sliding mode | |
| Thuyen | A new controller for hybrid active power filter | |
| Rachev et al. | Integral anti-windup correction in PI current controllers for electrical drives | |
| Vajda et al. | Limiting static and dynamic characteristics of an induction motor under frequency vector control | |
| Li et al. | Current predictive control of three-phase PWM rectifier | |
| Nur et al. | Fuzzy logic based indirect vector control of squirrel cage induction motor | |
| Ying et al. | The self-adjustable fuzzy sliding mode control for AC speed drive systems | |
| Huang | Research of the Fuzzy Control System for Brushless DC Motor Based on TMS320F2407 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20200328 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |