基于无刷直流电机的伺服系统低速性能仿真研究

摘要

伺服系统低速运动时，无刷直流电机转速低，运动平稳性差，容易产生力矩波动，引起低速爬行现象。为解决这一问题，在伺服系统位置环的基础上引入电流环，其中电流环采用分时反馈策略，根据霍尔信号逻辑对三相电流进行选择；位置环采用神经网络比例、微分、积分控制，并仿真验证伺服系统性能。仿真表明通过双闭环及神经网络PID控制能较好改善系统性能。%When the servo system moves in low speed, there will be low speed of BLDCM, bad motion stability, torque ripple and phenomenon of slow moving. To solve the problem, current loop based on the servo position loop is used. Current feedback in turn can be used in the current loop and the three-phase current can be chose based on Hall signal. Using Neural Network PID controller in the position loop and the system performance will be proved by simulation. The simulation shows that system performance can be improved by double closed-loop and neural network PID.