基于 DBO-FOPID 控制器的无刷直流电机 DTC 控制

文章采用一种直接转矩控制(direct torque control, DTC)方案, 将参考扭矩直接与估计扭矩进行比较, 并将误差提供给控制器, 从而实现极低转矩纹波下的直流无刷电机(brushless direct current motor, BLDC)控制。相较于传统的整数阶比例-积分-微分(proportion-integration-differentiation, PID)控制器, 分数阶PID(fractional order PID, FOPID)控制器的可调参数由过去的 $ K_{P} $、 $ K_{I} $、 $ K_{D} $增加为 $ K_{P} $、 $ K_{I} $、 $ K_{D} $、 $ \lambda $、 $ \mu $, 可调参数数量的增加能够更好地反映控制对象的非线性特性和时变性质, 从而提升控制系统的鲁棒性。为避免PID参数过于依赖专家经验的缺点, 采用蜣螂优化(dung beetle optimization, DBO)算法对FOPID进行自适应参数整定; 并在MATLAB/Simulink环境中搭建BLDC的DTC控制模型, 将所提出的基于DBO-FOPID控制器的BLDC直接转矩控制与基于粒子群优化(particle swarm optimization, PSO)算法的FOPID控制器的BLDC直接转矩控制、基于麻雀搜索优化算法(sparrow search algorithm, SSA)的FOPID控制器的BLDC直接转矩控制以及基于PI(proportion integration)控制器的BLDC速度控制等方法进行对比。仿真对比结果验证了所提出的控制器能够以极低的转矩脉动实现对电机转矩的有效控制。

This paper uses a direct torque control (DTC) scheme, where the reference torque is directly compared with the estimated torque and the error is provided to the controller to achieve control of a brushless direct current motor (BLDC) with very low torque ripple. Compared with traditional integer order proportion-integration-differentiation (PID) controllers, the adjustable parameters of fractional order PID (FOPID) controllers have been increased from $ K_{P} $, $ K_{I} $, and $ K_{D} $ in the past to $ K_{P} $, $ K_{I} $, $ K_{D} $, $ \lambda $, and $ \mu $. An increase in the number of adjustable parameters can better reflect the nonlinear and time-varying characteristics of the control object, thereby improving the robustness of the control system. To avoid the disadvantage of relying too much on expert experience for PID parameters, this paper uses the dung beetle optimization (DBO) algorithm to adaptively tune the FOPID parameters. A DTC control model for BLDC is built in MATLAB/Simulink environment, and the DTC of BLDC based on DBO-FOPID controller proposed in this paper is compared with the DTC of BLDC based on FOPID controller tuned by particle swarm optimization (PSO) algorithm, DTC of BLDC based on FOPID controller tuned by sparrow search algorithm (SSA), and speed control of BLDC based on proportion inte- gration(PI) controller. Through simulation comparison, it can be verified that the controller proposed in this paper can effectively control the motor torque with very low torque ripple.