Abstract: 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.
Keywords: fractional order proportion-integration-differentiation (FOPID) controller; direct torque control (DTC); dung beetle optimization (DBO) algorithm; parameter tuning
合肥工业大学学报自科版