Design And Implementation Of Brushless DC Motor Control System Based On Fuzzy Self-adaptation

The Brushless DC Motor(BLDCM)can not only retain characteristics of good mechanical properties,large starting torque,excellent control performance of the DC Motor,but also have advantages of reliable operation,simple structure,convenient maintenance,long duration that the AC Motor is equipped with,therefore it is widely used in intelligent manufacturing fields such as rotorcraft,unmanned surface vehicle(USV),underwater robot and intelligent medical device and so on.The BLDCM has the characteristics of non-linearity,strong coupling and multivariable,the dynamic performance of traditional BLDCM control system based on PID control is still insufficient accordingly.Nevertheless,the fuzzy control doesn't depend on the accurate mathematical model of complex controlled objects,and:it simulates human intelligence to realize the effective control of complex controlled objects by making use of fuzzy set theory,it has been widely used in engineering practice consequently.In this paper,the classical PID control and the fuzzy control algorithm are combined effectively to make the best of each other,hence the fuzzy adaptive PID controller is formed to overcome the shortcomings of the traditional BLDCM system such as low precision,poor anti-interference ability and weak robustness.In addition,in order to modify the control structure of the fiuzzy adaptive PID controller online,and further enhance the self-adaption ability and control performance of the BLDCM eontrol system,this paper proposes and designs a variable-universe fuzzy adaptive PID controller based on the contraction-expansion factors to make the fuzzy universe adjust timely according to the dynamic change of the control system.On the basis of expatiating the mathematical model of BLDCM in detail,the simulation model of double-closed-loop control system of BLDCM was built in Matlab/Simulink environment,and the simulation implementations of the fuzzy adaptive PID controller and variable-universe fuzzy adaptive controller are completed.The overall simulation results show that the BLDCM control system adopting the variable-universe fuzzy adaptive controller makes the control system equipped with the advantages of small output speed overshoot,fast response,high control precision and small torque ripple,then the control effect can reach optimal.Finally,the fuzzy adaptive BLDCM control system based on STM32 is designed,and the hardware platform of the motor control system based on STM32F103RBT6 main control chip and IR2136S main driver chip is built.On this hardware platform,the software program design of the motor control system and the upper computer monitoring interface design based on Matlab/GUI are completed.It can be seen from the comprehensive test results that the BLDCM control system with fuzzy adaptive PID control strategy has excellent dynamic and static performance,and the conclusion is consistent with that of the simulation experiment,which further verifies its superiority and effectiveness.