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PID

PID

421001

(BLDCM) PID(Proportion Integration Differentiation)

BLDCM PID
MATLAB PID
,

PID

Simulation Research on Control System of Brushless DC Motor

Based on Fuzzy-PID
Fanneng Zhou*, Changjun Qiu, Yulin Wang, Pinghu Chen
College of Mechanical Engineering, University of South China, Hengyang, China, 421001
*

Email: zfn0605@163.com

Abstract: To improve the overall performance of brushless DC motor (BLDCM), fuzzy-PID controller and its application in BLDCM
control system are presented. Through the analysis of the mathematical models of BLDCM and combination of fuzzy control strategy
and traditional PID control strategy, the modeling and simulation are done by the fuzzy control toolbox of MATLAB. The simulation
results show that the fuzzy PID control speeds up response time, reduces the overshoot, and has strong robust and adaptive capacity, so
it can make the system have better control performance and good application value.

Key words: BLDCM; Fuzzy-PID; Control System; Simulation

(BLDCM)[1]

PID
PID PID
Matlab/simulink

1
120

[2]
[3]
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PID

u a r 0 0 i a L M M i a ea



ub =
0 r 0 i b + M L M P i b + eb
u 0 0 r i M M L i e
c
c c
c

(1)

u a , u b , u c (V)i a , i b , i c (A)e a , e b , e c
(V)r()L(H)M(H)p
p=d/dt
i a +i b +i c =0Mi a +Mi b +Mi c =0(1)

0 ia ea
u a r 0 0 ia L - M 0



L - M 0 P i b + e b
u b = 0 r 0 ib + 0
u 0 0 r i 0
0 L - M i c e c
c
c

(2)

[6]

Te = (ea ia + ebib + ec ic ) / w

(3)

dw
(4)
= JPw
dt
T e (Nm)T L (Nm)B(Nms/rad)J(kgm2)d/dt
Te TL Bw = J

(rad/s2)

Pe = ea ia + ebib + ec ic = 2EI

(5)

2
2.1
Matlab/simulink
() PID
PID 1 1
2

2.2
S
Matlab/simulink Lookup Table
3 a 1 bc 120(3)
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PID

(5)E=K e wK e (3)
0 (5)(3)

Te
=

( ea / w) ia + ( eb / w ) ib + ( ec / w ) ic

(6)

K e

2.3

2.4

VT1 VT4

VT1 VT4

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PID
1

120

180

300

360

K e,a

-1

-1

2.5
PID e(t) ec(t)
u PD

PID

u
PID 4

PID

1
e(t) ec(t) E EC u
U
EECU [5]
{NBNMNSZEPSPMPB}
{-6-5-4-3-2-10123456}
EEC 5

2
Mamdani
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PID

If e is A and ec is Bthen u is C

uo =

u u (u )
i =1
n

i c

u (u )
i =1

u o u i u c (u i u i
2
3
PID 6
|e o |=0.01
2
EU
NB

NM

NS

ZE

PS

PM

PB

NB

PB

PB

PM

PM

PS

ZE

ZE

NM

PB

PB

PM

PM

PS

ZE

ZE

NS

PB

PB

PM

PM

PS

ZE

ZE

ZE

PB

PB

PM

PS

ZE

ZE

NS

PS

PM

PS

ZE

NS

NM

NM

NM

PM

ZE

ZE

NS

NM

NM

NB

NB

PB

ZE

ZE

NS

NM

NM

NB

NB

EC

kpkd k
1k

2) kp

3) kd

6 PID

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3
n N =1500r /minR s =1.867(LM)=0.018HK e =0.362P=1J=0.015Kgm2B=0.7510-5Wb
U dc =220V

a PID

(c) PID

(b) PID

(d) PID

7 PID PID (abcd)

1500r/min 0.5s T L =5NmPID PID

7 PIDPID
PIDPID 50%~60%
PID
PID
8 9
BLDCMPID
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PID

8 PID

9 PID

4
PID PID

PID
PID

[1]

. [M]. :,2001.

[2]

, , . Matlab [J]. , 2003,15(12):1745-1746.

[3]

, , . PID [J]. , Vol.7, No.3, 248-254,

2003.

[4]

Wei Zhouhong, Schinstock Dale E. Feedforward Control Startegies for Tracking Performance in Machine AXES[J]. Chinese Journal of
Mechanical Engineering, 2005,18(1): 15-16.
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[5]

, . PI [J]. , Vol.26, No.10, 186-189, 2009.

[6]

, , . PI[J]. , Vol.16,S 1 ,125-133,2008.

[7]

Li W. Design of a hybrid fuzzy logic proportional plus conventional integral-derivative controller[ J]. IEEE Trans on Fuzzy Systems,1998,
4(6): 449-463.

[8]

Carvajar J, Chen GR. Fuzzy PID Controller: Design, Performance Evaluation and Stability Analysis[J]. Information Sciences, 2000,
123(3): 249-270.

[9]

. [J]. , Vol.17, NO.5,599-602,2010.

[10] , , . [J]. ,2009, 16 (3): 346-349.

[11] LiL B, Sun HX, WangX J, et al. A High-performance Direct Torque Control Based on DSP in Permanent Magnet Synchronous Motor
Drive[C]. Shanghai Proceedings of the 4th world Congress on Intelligent Control and Automation, 2002.
[12] Kim TH, Ehsani M. Sensorless Control of the BLDC Motors from Near-zero to High Speeds[J]. IEEE Transactions on Power Electronics,
2004, 19(6): 1635-1645.
[13] Amano Y, Tsuji T, Takahashi A. A Sensorless Drive System for Brushless DC Motors Using a Digital Phase-locked Loop [J]. Electrical
Engineering in Japan, 2003, 1(1): 57-64.
[14] ChauK T, Jiang JZ, Wang Y. A Novel Statordoubly Fed Doubly Salient Permanent Magnet Brushless Machine Magnetics[J]. IEEE
Transactions on Magnetics, 2003, 39(5): 300-303.

1987- 2010

Emailzfn0605@163.com

1965-

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