直流無刷馬達之模糊PD控制器設計

Design of Fuzzy PD Controller for Brushless DC Motor

徐麗雅(Li-Ya Hsu)

指導教授 ： 翁慶昌

淡江大學/工學院/電機工程學系碩士在職專班/碩士(2018年)

https://doi.org/10.6846/TKU.2018.00147

摘要

本論文提出一個模糊PD控制方法來控制直流無刷馬達，使其能適應不同環境而達到期望之要求。本論文利用模糊方法來調變改善PD控制器之參數KP與KD，使其具有適應性功能。模糊控制器為二輸入與二輸出型式，輸入變數為位置誤差e及誤差變化量Δe，二組輸出變數為KP及KD。本論文利用模糊調變PD控制參數於實際直流無刷馬達控制上，經實驗過後得知，模糊PD控制較傳統PD控制，擁有適應性的參數調整、與較佳的控制特性。因此，本文設計之模糊PD控制器，有效改善PD控制器反應速度過慢造成控制效果不佳的問題。未來，在面對系統具有不確定性、時變性和非線性等複雜狀態時，模糊PD控制更能提供傳統PD控制器無法達到的成果。

關鍵字

模糊理論 ； PD控制器 ； 直流無刷馬達 ； 可程式規劃系統晶片

並列摘要

In this thesis, a fuzzy PD control method is proposed to control brushless DC motor so that it can adapt to different environments and meet the expectations of the request. In this thesis, a fuzzy method is proposed to modify and improve the parameters KP and KD of the PD controller so that it has adaptability. Two-input-and-two-output fuzzy system is considered, where the two input variables are position error (e) and change of error (Δe) and the two output variables are KP and KD. We use the fuzzy modulation PD control parameters to control the actual brushless DC motor. In the experiments, we know that the fuzzy PD control has more adaptive parameters adjust and better control effect than the traditional PD control. Therefore, the fuzzy PD controller designed in this paper can effectively improve the poor control effect caused by the slow response of the PD controller. In the future, fuzzy PD control can provide the unattainable results of the traditional PD controller in the face of complex states such as system uncertainty, time-varying and non-linearity.

並列關鍵字

Fuzzy Theory ； PD Controller ； Brushless DC Motor ； SOPC

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