Sie sind auf Seite 1von 10

2021 International Conference on Computer Information Science and Artificial Intelligence (CISAI)

5HVHDUFKRQ&RQWURO0HWKRGRI'&6SHHG5HJXODWLRQ
2021 International Conference on Computer Information Science and Artificial Intelligence (CISAI) | 978-1-6654-0692-5/21/$31.00 ©2021 IEEE | DOI: 10.1109/CISAI54367.2021.00174

(OHFWULF(QHUJ\9HKLFOH%DVHGRQ1HXUDO1HWZRUN

7LDQ\X<DQJ 5XPHQJ)DQJ  3HQJIHL<DQ
,QWHUQDWLRQDO(GXFDWLRQ,QVWLWXWH 'HSDUWPHQWRI$XWRPDWLRQ ,QWHUQDWLRQDO(GXFDWLRQ,QVWLWXWH
1RUWK&KLQD(OHFWULF3RZHU8QLYHUVLW\ 1RUWK&KLQD(OHFWULF3RZHU8QLYHUVLW\ 1RUWK&KLQD(OHFWULF3RZHU8QLYHUVLW\
%HLMLQJ&KLQD %DRGLQJ  %DRGLQJ 
 %DRGLQJ&KLQD %DRGLQJ&KLQD
 (PDLOGXRHU[V#FRP

Abstract1RZDGD\V WKH 1HZ HQHUJ\ YHKLFOHV 1(9V  KDYH DOJRULWKP DQG IX]]\ FRQWURO WKHRU\ ZDV DOVR XVHG WR FRQWURO
EHHQGHYHORSHGLQDNH\ZD\DVDQLQGXVWU\DGMXVWHGE\&KLQD¶V WKHVSHHGRIWKHFDU+RZHYHUWKHVLPXODWLRQRIWKHFDUPRGHO
QDWLRQDO VWUDWHJ\ $LPLQJ DW WKH SUREOHPV RI SRRU SDUDPHWHU IHOO LQWR WKH SOLJKW RI ORFDO RSWLPL]DWLRQ>@ 7KH VHOHFWLRQ RI
DGMXVWPHQW DQG ORZ UHVSRQVH VSHHG H[LVWLQJ LQ WUDGLWLRQDO 3,' YHFWRUFRQWURORILQGXFWLRQPRWRULQWKHFRQWUROV\VWHPLVDOVR
FRQWURORIHQHUJ\YHKLFOHVLQWKHFRPSOH[GULYLQJHQYLURQPHQWD SXWIRUZDUGE\RWKHUVLQSUHYLRXVZRUNDQGUHVHDUFK+RZHYHU
VSHHGFRQWUROPHWKRGRI'&PRWRUEDVHGRQ%3QHXUDOQHWZRUN WKH LQWURGXFWLRQ RI YHFWRUV LQ WKH FDOFXODWLRQ PDNHV WKH
DQG WUDGLWLRQDO 3,' ZDV SURSRVHG ZKLFK JUHDWO\ LPSURYHG WKH FDOFXODWLRQ TXDQWLW\ ODUJHU DQG WKH V\VWHP VWUXFWXUH EHFRPHV
VSHHG FRQWURO HIILFLHQF\ DQG DFFXUDF\ RI QHZ HQHUJ\ YHKLFOHV
FRPSOH[ 0RUHRYHU WKH URWRU IOX[ FDOFXODWLRQ DFFXUDF\ LV
$FFRUGLQJ WR WKH QRQOLQHDU DQG PXOWLYDULDEOH FKDUDFWHULVWLFV RI
DIIHFWHGE\WKHURWRUUHVLVWDQFHZKLFKLVHDV\WRFKDQJH7KH
EUXVKOHVV '& PRWRU FRQWURO V\VWHP WKH PRWRU DQG FRQWURO
SULQFLSOHDUHPRGHOHGDQGDQDO\]HGE\6LPXOLQN7KHQEDVHGRQ
$QJOH DFFXUDF\ RI URWRU IOX[ DIIHFWV WKH DFFXUDF\ RI YHKLFOH
3URWHXV 67&& VLQJOHFKLS PLFURFRPSXWHU FRPELQHG ZLWK RULHQWDWLRQ ZKLFK LV D IDWDO SUREOHP IRU 1(9V ZLWK VWULFW
WKHGULYHFRQWUROPRGXOHLVXVHGWRVLPXODWHPRWRUVSHHGFRQWURO UHTXLUHPHQWV RQ GLUHFWLRQ DQG VSHHG>@ $OWKRXJK WKH
0HDQZKLOHLQRUGHUWRHQKDQFHWKHDGDSWDELOLW\DQGUDSLGLW\RI WUDGLWLRQDO 3,' FRQWURO LV FRQYHQLHQW UDSLG DQG XQLYHUVDO
WKHSDUDPHWHUDGMXVWPHQWLQVSHHGUHJXODWLRQV\VWHP%3QHXUDO WKHUH H[LVW VRPH XQDYRLGDEOH GUDZEDFNV )LUVW RI DOO LW LV
QHWZRUN DQG WUDGLWLRQDO 3,' FRQWURO DUH DSSOLHG LQ WKH XQUHDVRQDEOH WR WDNH WKH HUURU EHWZHHQ WKH VHW YDOXH DQG WKH
GHVLJQDWLRQ RI FRQWUROOHU ZKLFK FDQ LPSOHPHQW WKH RXWSXW GLUHFWO\ ZKHQ XVLQJ 3,' FRQWURO 7KH VWUXFWXUH RI WKH
VHOIDGDSWDWLRQ FRQWURO RI V\VWHP DQG VHOIWXQLQJ RI 3,' FRQWUROOHUOLPLWVWKH3,'FRQWUROOHUDQGLWLVGLIILFXOWWRFRQWURO
SDUDPHWHUV$WODVWWKHVLPXODWLRQLVYHULILHGE\0$7/$%7KH WKH ODUJH GHOD\ REMHFWV XQVWDEOH REMHFWV LQWHJUDO REMHFWV DQG
H[SHULPHQWDO UHVXOWV VKRZ WKDW WKH %33,' QHXUDO QHWZRUN XQGHUGDPSHG REMHFWV>@3HUPDQHQW PDJQHW V\QFKURQRXV
FRQWUROOHUKDVWKHDGYDQWDJHVRIJRRGUREXVWQHVVVWURQJVWDELOLW\ PRWRU 3060  LV D PXOWLYDULDEOH QRQOLQHDU DQG VWURQJO\
DQGIDVWUHVSRQVH$WWKHVDPHWLPHWKH%33,'QHXUDOQHWZRUN FRXSOHG V\VWHP 2QO\ DGRSW FRQYHQWLRQDO 3,' FRQWURO RQ
FRQWUROOHU KDV VWURQJHU DQWLGLVWXUEDQFH SHUIRUPDQFH XQGHU WKH 3060LVHDVLO\DIIHFWHGE\DVHULHVRIXQFHUWDLQIDFWRUVVXFK
GLVWXUEHG FRQGLWLRQV ZKLFK FDQ SURYH WKH FRUUHFWQHVV DQG DVPRWRUSDUDPHWHUVFKDQJHDQGORDGGLVWXUEDQFH
IHDVLELOLW\RIWKHGHVLJQHGPRGHODERYH7KLVDSSURDFKSURYLGHVD
QHZVROXWLRQWRLPSURYHWKHSHUIRUPDQFHRI1(9V ,QRUGHUWRVROYHWKLVSUREOHPWKHDUWLILFLDOQHXUDOQHWZRUN
LVLQWURGXFHGLQWRWKHLQWHOOLJHQWFRQWUROV\VWHPDQGWKHQHXUDO
KeywordsBrushless DC Motor; Speed Loop Control; Proteus QHWZRUN 3, UHJXODWRU LV FRPSRVHG DQG XVHG DV WKH VSHHG
Simulation; BP neural network. UHJXODWRURI3060VSHHGFRQWUROV\VWHP>@7KHFRPELQDWLRQ
RI DGDSWLYH FRQWURO DQG QHXUDO QHWZRUN FRQWURO FDQ QRW RQO\
, ,QWURGXFWLRQ UHDOL]H WKH FRPSOHWH GHFRXSOLQJ RI 3060 V\VWHP EXW DOVR
$WSUHVHQWDVRQHRIWKHFRUHVRI1(9VUHVHDUFKWKHGULYH HIIHFWLYHO\FRQWUROWKHLQIOXHQFHRIV\VWHPSDUDPHWHUFKDQJHV
PRWRUWHFKQRORJ\KDVEHHQKLJKO\YDOXHGE\UHVHDUFKHUVLQWKH RQ WKH V\VWHP VSHHG WUDFNLQJ VHUYR SHUIRUPDQFH VR DV WR
H[LVWLQJ1(9VRIWKHPDUNHW7KHGULYHPRWRUVWKDWKDYHEHHQ HQVXUHWKHVWURQJUREXVWQHVVRIWKHV\VWHP
XVHG RU DUH VWLOO XQGHU GHYHORSPHQW DUH PDLQO\ GLYLGHG LQWR
IRXU FDWHJRULHV '& PRWRU $& LQGXFWLRQ PRWRU SHUPDQHQW ,, 2YHUDOOVFKHPHGHVLJQRIWKHV\VWHP
PDJQHW V\QFKURQRXV PRWRU DQG VZLWFKHG UHOXFWDQFH PRWRU 7KHGHVLJQRIWKLVV\VWHPLVPDLQO\FRPSRVHGRI0&8
0RUHRYHU WKHUH DUH VHYHQ PDLQ PHWKRGV RI PRWRU VSHHG PRGXOH / GULYH PRGXOH '& PRWRU DQG RWKHU KDUGZDUH
FRQWURO LQFOXGLQJ ORJDULWKPLF SROH FKDQJH VSHHG UHJXODWLRQ FLUFXLWVDQGWKHVSHHGLVFRQWUROOHGE\WKHGRXEOHFORVHGORRS
IUHTXHQF\ FRQWURO RI PRWRU VSHHG FDVFDGH VSHHG UHJXODWLRQ SULQFLSOHRI'&PRWRU $PRQJWKHPWKHRXWHUORRSLVDVSHHG
PHWKRG ZRXQG URWRU PRWRU  URWRU VHULHV UHVLVWDQFH VSHHG ORRSDQGLVFRQWUROOHGE\%3QHXUDOQHWZRUN7KHLQQHUORRSLV
FRQWUROPHWKRGWKHVWDWRUYROWDJHUHJXODWLQJVSHHGDGMXVWPHQW D FXUUHQW ORRS ZKLFK LV FRQWUROOHG E\ 3, )LUVWO\ WKH 3:0
HOHFWURPDJQHWLF VSHHG UHJXODWLQJ PRWRU GULYH DQG K\GUDXOLF RXWSXW VLPXODWLRQ FRQWURO RI WKH PRWRU LV UHDOL]HG E\ XVLQJ
FRXSOHU VSHHG UHJXODWLRQ PHWKRG LQ ZKLFK 3,' FRQWURO 3URWHXV VLPXODWLRQ LQ VRIWZDUH :LWK 67&& DV WKH FRUH
PHWKRGLVWKHPDLQVWUHDPLQWKHDXWRLQGXVWU\6RPHVFKRODUV WKH 3:0 VSHHG FRQWURO DQG PRWRU VSHHG DGMXVWPHQW DUH
SURSRVHG WR XVH 037$ IRU ODUJH WRUTXH RXWSXW EXW LWV UHDOL]HG E\ DGRSWLQJ IL[HG IUHTXHQF\ DQG ZLGWK PRGXODWLRQ
IHHGEDFN FRQWURO LV GLIILFXOW WR UHJXODWH DQG WKH FDOFXODWLRQ )LUVWO\ WKH 3:0 RXWSXW VLPXODWLRQ FRQWURO RI WKH PRWRU LV
SURFHVV LV LQWULFDF\>@362 SDUWLFOH VZDUP RSWLPL]DWLRQ

978-1-6654-0692-5/21/$31.00 ©2021 IEEE 860


DOI 10.1109/CISAI54367.2021.00174

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.
UHDOL]HG E\ XVLQJ 3URWHXV VLPXODWLRQ LQ VRIWZDUH :LWK LV UHDOL]HG E\ 0DWODE VLPXODWLRQ 7KH 6)XQFWLRQ PRGXOH LV
67&& DV WKH FRUH WKH VSHHG DGMXVWPHQW RI WKH PRWRU LV FRPELQHG ZLWK WKH SULQFLSOH RI QHXUDO QHWZRUN WR ZULWH D
UHDOL]HG E\ DGRSWLQJ WKH PHWKRG RI FRQVWDQW IUHTXHQF\ DQG IXQFWLRQDQGWKHDGDSWLYH3,'SDUDPHWHUVRXWSXWE\WKHQHXUDO
ZLGWK PRGXODWLRQ ,Q DGGLWLRQ EDVHG RQ WKH VSHHG V\VWHP D QHWZRUN DUH REWDLQHG DQG LQSXW LQWR WKH V\VWHP WR UHDOL]H
VSHHG FORVHGORRS V\VWHP EDVHG RQ 3, FRQWURO LV IXUWKHU 
FORVHGORRS VLPXODWLRQ FRQWURO 7KH RYHUDOO V\VWHP EORFN
FRQVWUXFWHG WR UHDOL]H WKH PRWRU LQWHUQDO ORRS VLPXODWLRQ GLDJUDPLVVKRZQLQ)LJ
FRQWURO )LQDOO\WKHFORVHGORRSFRQWURORI%3QHXUDOQHWZRUN



)LJXUH2YHUDOOV\VWHPEORFNGLDJUDP

URWRUURWDWLRQ$QJOHV\QFKURQL]DWLRQ7KHURWRUSRVLWLRQVHQVRU
,,, 6\VWHPSULQFLSOHDQGPRGHO FRPSULVHVDVHQVRUURWRUDQGDVWDWRUSDUW7KHVWDWRUZLQGLQJ
A. Three-phase control model of brushless DC motor RIWKHPRWRULVPDLQO\PDGHRIDWKUHHSKDVHV\PPHWULFDOVWDU
FRQQHFWLRQ PHWKRG 7KH PRWRU
V URWRU LV JOXHG ZLWK D
$ %UXVKOHVV '& PRWRU LV D W\SLFDO PHFKDWURQLFV GHYLFH PDJQHWL]HG SHUPDQHQW PDJQHW ZKLFK KDV WKH FKDUDFWHULVWLFV
FRPSRVHGRIPRWRUERG\URWRUSRVLWLRQVHQVRUDQGHOHFWURQLF RIPDJQHWLFILHOGURWDWLRQDQGIL[HGDUPDWXUH$IWHUUHPRYLQJ
FRPPXWDWLRQ FLUFXLWFRQWUROOHU$PRQJ WKHP WKH PRWRUERG\ WKH EUXVK DQG FRPPXWDWRU WKH LQYHUWHU SRZHU VZLWFK GHYLFH
LV PDLQO\ FRPSRVHG RI VWDWRU DQG URWRU SDUWV WKH (OHFWURQLF XVHG LQ WKH HOHFWURQLF FRPPXWDWRU FDQ EH GLUHFWO\ FRQQHFWHG
FRPPXWDWLRQ FLUFXLW FRQVLVWV RI ORJLF FRPPXWDWLRQ XQLW DQG ZLWK WKH DUPDWXUH ZLQGLQJ RI WKH PRWRU 7KH VWUXFWXUH LV
SRVLWLRQ VLJQDO XQLW FRPPXWDWLRQ FRQGXFWLRQ VHTXHQFH DQG VKRZQLQWKHILJXUHEHORZ



)LJXUH7KHFRPSRQHQWVRIEUXVKOHVV'&PRWRU

$FFRUGLQJ WR WKH VWUXFWXUH DQG RSHUDWLRQ SULQFLSOH RI WKH ‫ݑ‬஺ ܴ Ͳ ݅஺
Ͳ
FODVVLILFDWLRQ D EUXVKOHVV '& PRWRU LV D V\QFKURQRXV PRWRU ൭‫ݑ‬஻ ൱ ൌ ൭ Ͳ Ͳ ൱ ൭ ݅஻ ൱ ൅
ܴ
DXWRPDWLFV\QFKURQRXVRSHUDWLRQ%UXVKOHVV'&PRWRUDGRSWV ‫ݑ‬஼ Ͳ ܴ ݅஼
Ͳ
VWDU FRQQHFWLRQ SDLUZLVH FRQGXFWLRQ PRGH DQG WKH GULYLQJ ‫ܮ‬െ‫ܯ‬ ݅஺ ݁஺
FLUFXLWWRSRORJ\LVVKRZQLQWKHILJXUHEHORZ ൭ ‫ܮ‬െ‫ܯ‬ ൱ ‫݌‬ ൭ ݅ ൱ ൅ ൭ ݁ ஻ ൱          

‫ܮ‬െ‫ܯ‬ ݅஼ ݁஼

ܶ௘ ൌ ሺ݁஺ ݅஺ ൅ ݁஻ ݅஻ ൅ ݁஼ ݅஼                    

ௗఆ
ܶ௘ െ ܶ௅ ൌ ‫ ܬ‬൅ ‫ܤ‬ఔ ߗ                    
ௗ௧
:KHUH ‫ݑ‬஺ ˈ‫ݑ‬஻ ˈ‫ݑ‬஼  DUHWKHVWDWRUZLQGLQJYROWDJH 9 ݅஺ ˈ
݅஻ ˈ݅஼  DUHWKHVWDWRUZLQGLQJFXUUHQW $ ݁஺ ˈ݁஻ ˈ݁஼  DUHVWDWRU
 ZLQGLQJ HOHFWURPRWLYH IRUFH 9 5 LV PRWRU SKDVH
)LJXUH%UXVKOHVV'&PRWRUWKUHHSKDVHEULGJHGULYHHTXLYDOHQWFLUFXLW UHVLVWDQFH ȍ /LVVHOILQGXFWLRQRIHDFKSKDVHZLQGLQJ + 0
LVPXWXDOLQGXFWDQFHEHWZHHQHDFKWZRSKDVHZLQGLQJ + ‫ ݌‬LV

$IWHU FDOFXODWLRQ DQG GHULYDWLRQ WKH IROORZLQJ FRPSOHWH GLIIHUHQWLDO RSHUDWRU ’ ൌ ୢ୲  ܶ௅  LV WKH ORDG WRUTXH ‫  ܬ‬LV WKH
GLIIHUHQWLDO HTXDWLRQ PDWKHPDWLFDO PRGHO RI EUXVKOHVV '&
PRPHQWRILQHUWLD‫ܤ‬ఔ  LVWKHFRHIILFLHQWRIYLVFRXVIULFWLRQ
PRWRUV\VWHPFDQEHREWDLQHG

861

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.
B. Control principle of brushless DC motor 979797979797979797979797
7KH FRQWURO V\VWHP GHWHUPLQHV WKH RQRII ORJLF RI WKH
LQYHUWHU FLUFXLW DFFRUGLQJ WR WKH VSDWLDO SRVLWLRQ RI WKH URWRU
PDJQHWLF SROHV VR DV WR GULYH WKH FXUUHQW FRQGXFWLRQ RI WKH
VWDWRU ZLQGLQJ VR DV WR UHDOL]H WKH FRUUHFW SKDVLQJ RI WKH
ZLQGLQJFXUUHQWDQGGULYHWKHURWRUURWDWLRQ>@
C. PID control based on position loop
7KH %UXVKOHVV '& PRWRU LV PRVWO\ FRQWUROOHG E\ 3,'
V\VWHP ,Q HQJLQHHULQJ DSSOLFDWLRQV WKH V\VWHP RIWHQ DGRSWV
WKH FRPELQDWLRQ IRUP RI SURSRUWLRQ LQWHJUDO DQG GLIIHUHQWLDO
7KHFRQWUROV\VWHPRIEUXVKOHVV'&PRWRULVFRPPRQO\XVHG
LQWKHIRUPRISURSRUWLRQDOLQWHJUDO
7KH3,'FRQWUROSULQFLSOHRIFRQWLQXRXVFRQWUROV\VWHPLV
)LJXUH%UXVKOHVV'&PRWRUVFKHPDWLFGLDJUDP DVIROORZV
ଵ ୲ ୢୣሺ୲ሻ
,QWKHSDLUZLVHFRQGXFWLRQPRGHWKHVWHSSLQJDQJOHRIWKH —ሺ–ሻ ൌ  ୮ ሺ‡ሺ–ሻ ൅ ‫‡ ׬‬ሺ–ሻ†– ൅ ୈ            
୘ౢ ଴ ୢ୲
VWDWRU V\QWKHWLF PDJQHWLF ILHOG LV ƒ,Q WKH SURFHVV RI
RSHUDWLRQWKHPRWRUDOZD\VFRQGXFWVWZRSKDVHVDQGWKHWKLUG :KHUH  ୮  LV WKH SURSRUWLRQDO FRHIILFLHQW IRU LPSURYLQJ
SKDVH LV RII WKDW LV WKH WZR SKDVHV FRQGXFW WKUHHSKDVH VL[ UHVSRQVH VSHHG DQG DGMXVWLQJ DFFXUDF\ܶ௟  LV WKH LQWHJUDO WLPH
VWDWHV (YHU\ WKH URWRU URWDWH ƒ LW FRPPXWHV RQFH WKH FRQVWDQW XVHG WR RYHUFRPH WKH VWHDG\VWDWH HUURU RI WKH
FRUUHVSRQGLQJ ZLQGLQJ FRQGXFWLRQ VWDWH FKDQJHV RQFH HDFK V\VWHPୈ  LVWKHGLIIHUHQWLDOWLPHFRQVWDQWXVHGWRLPSURYHWKH
URWRU WXUQV D SDLU RI PDJQHWLF SROHV ,W LV QHFHVVDU\ WR G\QDPLFFKDUDFWHULVWLFVRIWKHV\VWHP>@
FRPPXWH VL[ WLPHV VR WKH DUPDWXUH ZLQGLQJ KDV VL[
FRQGXFWLRQ VWDWHV 7KH FRQGXFWLRQ RUGHU RI D FRPPXWDWLRQ 
SHULRGLV 


)LJXUH3,'FRQWUROIORZFKDUW

6HUYR PRWRUV DUH PRVWO\ WKUHHORRS FRQWURO V\VWHPV SRVLWLRQUHJXODWRULVVHWDVWKHUDWHGVSHHGRIWKHPRWRU


$PRQJ WKHP WKH RXWSXW RI WKH LQQHUPRVW FXUUHQW ORRS LV WKH
SKDVHFXUUHQWRIHDFKSKDVHRIWKHPRWRUDQGWKHIHHGEDFNRI D. Control principle of BP neural network
WKH FXUUHQW ORRS LV IHG EDFN WR WKH FXUUHQW ORRS E\ WKH +DOO 1) Principle of neural network
HOHPHQWLQVWDOOHGLQHDFKSKDVHLQVLGHWKHGULYHU7KHIHHGEDFN 3,' FRQWURO EDVHG RQ WKH QHXUDO QHWZRUN SULQFLSOH FDQ
RIWKHGHJUHHORRSFRPHVIURPWKHYDOXHRIWKHIHHGEDFNIURP DGMXVWWKHSDUDPHWHUVDFFRUGLQJWRWKHFORVHGORRSIHHGEDFNRI
WKH HQFRGHU ZKLFK LV REWDLQHG E\ WKH VSHHG RSHUDWRU>@ WKH V\VWHP WR DFKLHYH D EHWWHU FRQWURO HIIHFW +RZHYHU LW LV
DQG WKH IHHGEDFN LQ WKH RXWHUPRVW SRVLWLRQ ORRS FRPHV IURP GLIILFXOWWRDGMXVWWKHSDUDPHWHUVRI3,'FRQWUROOHU,QWKHSDVW
WKHHQFRGHU7KHDERYHFKDUWLOOXVWUDWHVWKDWDSRVLWLRQORRSLV PRVW SHRSOH JRW UHODWLYHO\ DFFXUDWH YDOXHV DFFRUGLQJ WR
DGGHG WR WKH EDVH GRXEOH FORVHGORRS FRQWURO 7KH GRXEOH H[SHULHQFH DQG UHFLSURFDWLQJ SUDFWLFH ,Q WKLV SDSHU WKH
FORVHGORRS LV UHJDUGHG DV WKH VSHHG FRQWURO PRGXOH DQG WKH %33,'QHXUDOQHWZRUN DOJRULWKPLVXVHG WRDFKLHYHWKHJRDO
SRVLWLRQ UHJXODWRU VHWV WKH GLIIHUHQFH EHWZHHQ WKH JLYHQ RI VHOIDGDSWLYH DGMXVWPHQW RI 3,' SDUDPHWHUV WKURXJK WKH
SRVLWLRQ VLJQDO DQG WKH DFWXDO SRVLWLRQ GHWHFWLRQ VLJQDO DV WKH QHXUDOQHWZRUN
JLYHQVSHHGRIWKHFRQWUROPRGXOHVRDVWRFRQWUROWKHPRWRUWR
%3 QHXUDO QHWZRUN LV D NLQG RI HUURU EDFN SURSDJDWLRQ
URWDWHLQDFFRUGDQFHZLWKWKHVSHFLILHGVSHHGDQGGLUHFWLRQDV
ZKLFK GRHV QRW QHHG WR GHWHUPLQH WKH IXQFWLRQDO UHODWLRQVKLS
ZHOODVWRFRQWUROWKHSRVLWLRQRIWKHPRWRU
EHWZHHQLQSXWDQGRXWSXWEXWFDQWUDLQWKHWDUJHWUHVXOWFORVH
,QWKHGHVLJQRISRVLWLRQORRSSDUDPHWHUVLWLVDSSURSULDWH WR WKH H[SHFWHG YDOXH E\ HUURU EDFN SURSDJDWLRQ %3 QHXUDO
WRVHWWKHLQLWLDOLQSXWVLJQDODVUDPSVLJQDODQGWKHUHJXODWRU QHWZRUN LQFOXGHV RXWSXW OD\HU KLGGHQ OD\HU DQG RXWSXW OD\HU
DV D SXUH 3 UHJXODWRU DQG WKH RXWSXW DPSOLWXGH OLPLW RI WKH DQGLWVPDLQVWUXFWXUHLVVKRZQLQWKHIROORZLQJILJXUH>@

862

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.
RXWSXW YDOXH RI WKH PRWRU VSHHG DW WKH FXUUHQW WLPH DUH LQSXW
LQWRWKHQHXUDOQHWZRUNDOJRULWKPDQGWKH3,'SDUDPHWHUVDUH
WUDLQHG DQG RXWSXW LQWR WKH V\VWHP WR UHDOL]H FORVHGORRS

SDUDPHWHUV FRQWURO 7KH UHJXODWLRQ SULQFLSOH LV VKRZQ LQ
)LJXUH


)LJXUH%3QHXUDOQHWZRUNVWUXFWXUHGLDJUDP

7KHLQSXWRI%3QHXUDOQHWZRUNLVGHWHUPLQHGE\WKHXVHU
)LJXUH6LPXODWLRQGLDJUDPRIGRXEOHFORVHGORRSV\VWHPRI'&PRWRUZLWK
6HW WKH LQSXW OD\HU DV WKH RXWSXW YDOXH H[SHFWHG YDOXH DQG %33,'FRQWUROOHU
GHYLDWLRQRIWKHV\VWHPWKHQWKHLQSXWRIWKHKLGGHQOD\HULV
‡– ௜ ሺ݇ሻ ൌ σଷ௝ୀଵ ™௜௝ š௝ ሺ݇ሻ ሺ݅  ൌ ͳǡʹǡ ǥ ǡ ܳሻ          2) b) S function solving model
6 IXQFWLRQ LV DQ DGYDQFHG IXQFWLRQDO PRGXOH LQ 0DWODE
:KHUH 6RPHWLPHV FRPSOH[ DOJRULWKP GHVLJQ LV QHHGHG EXW WKHVH
Š௜ ሺ݇ሻ‹•–Š‡Š‹††‡Žƒ›‡”‹’—–ǡ ™݆݅ ‹•–Š‡™‡‹‰Š–‹‰ DOJRULWKPVDUHQRWVXLWDEOHIRURUGLQDU\6LPXOLQNPRGXOHVEXW
FDQEHSURJUDPPHGDQGGHVLJQHGE\6IXQFWLRQHPEHGGHGLQ
…‘‡ˆˆ‹…‹‡–ǡ š௝ ሺ݇ሻLV WKH LQSXW OD\HU LQSXW DQG i,j DUH WKH WKH VLPXODWLRQ PRGHO DQG FDQ UHDOL]H WKH FRPSOH[ IXQFWLRQV
QXPEHURILQSXWOD\HUVDQGKLGGHQOD\HUVUHVSHFWLYHO\ WKH\QHHG7KHIROORZLQJILJXUHLVWKHIORZFKDUWRIFRPSLOLQJ
2XWSXWRIKLGGHQOD\HULV WKHQHXUDOQHWZRUNFRQWURODOJRULWKPLQWKH6IXQFWLRQ

‘௜ ሺ݇ሻ ൌ ݂ሾ‡– ௜ ሺ݇ሻሿ                         



:KHUH ݂ሺ‫ݔ‬ሻ LVWKHDFWLYDWLRQIXQFWLRQ
7KHLQSXWRIWKHRXWSXWOD\HUOLV
‡– ௟ ሺ݇ሻ ൌ σொ௜ୀ଴ ™௟௜ ‘௜ ሺ݇ሻ                        
:KHUH ‡– ௟ ሺ݇ሻ  LV WKH RXWSXW OD\HU LQSXW ™௟௜  LV WKH
ZHLJKWLQJFRHIILFLHQWDQG ‘௜ ሺ݇ሻ LVWKHRQSXWOD\HULQSXW
2XWSXWOD\HURXWSXWLV
‘௟ ሺ݇ሻ ൌ ݂ሾ‡– ௟ ሺ݇ሻሿሺ݈ ൌ Ͳǡͳǡ ʹሻ               
:KHUH ‘଴ ሺ݇ሻ ൌ ‫݌ܭ‬ǡ ‘ଵ ሺ݇ሻ ൌ ‫݅ܭ‬ǡ ‘ଶ ሺ݇ሻ ൌ ‫݀ܭ‬Ǥ ™݈݅  LV WKH
RXWSXW OD\HU ZHLJKWLQJ FRHIILFLHQW DQG ݂ሺ‫ݔ‬ሻ LV WKH RXWSXW
OD\HUDFWLYDWLRQIXQFWLRQ
7KHSHUIRUPDQFHLQGH[IXQFWLRQLV
ሺ୰ሺ୩ሻି୷ሺ୩ሻሻమ
݁ሺ݇ሻ ൌ                           

$FFRUGLQJ WR WKH JUDGLHQW GHVFHQW PHWKRG WKH ZHLJKWLQJ 


FRHIILFLHQW LV PRGLILHG DQG WKH DGGLWLRQDO LQHUWLD WHUP LV )LJXUH)ORZFKDUWRI6IXQFWLRQFRQWUROLGHD
LQWURGXFHG7KHOHDUQLQJDOJRULWKPRIWKHQHWZRUNRXWSXWOD\HU
LVDVIROORZV $WWLPHNWKH'&PRWRUV\VWHPSDUDPHWHUVU N H N H
ο™௟௜ ሺ݇ሻ ൌ ߙο™௟௜ ሺ݇ െ ͳሻ ൅ ߚɁ௟ ‘௜ ሺ݇ሻ            N  \ N  DQG \ N  DUH LQSXW LQWR WKH V IXQFWLRQ DV WKH
LQSXWOD\HURIQHXUDOQHWZRUN6HWDVHWRIKLGGHQOD\HURXWSXW
డ௬ሺ௞ሻ డο௨ሺ௞ሻ
Ɂ௟ ൌ ݁ሺሻ•‰ ቀ ቁ డ୭ ሺ௞ሻ ݃ᇱ ൫‡– ௟ ሺ݇ሻ൯ሺ݈ ൌ Ͳǡͳǡʹሻ   OD\HU ZHLJKWV UDQGRPO\ DV LQLWLDO ZHLJKWLQJ FRHIILFLHQWV DQG
డο௨ሺ௞ሻ ೗ DGDSWLYHO\ OHDUQ WKH RSWLPDO 3,' SDUDPHWHUV DFFRUGLQJ WR
7KHIRUPXODRIFRUUHFWLRQFRHIILFLHQWRIKLGGHQOD\HULV QHXUDOQHWZRUNDOJRULWKP>@
ο™௜௝ ሺ݇ሻ ൌ ߙο™௜௝ ሺ݇ െ ͳሻ ൅ ߚɁ௜ ‘௝ ሺ݇ሻ   E. Microcontroller controller and drive module
Ɂ௜ ൌ ݂Ԣሾ‡– ௜ ሺ݇ሻሿ σଶ௟ୀ଴ Ɂ௟ ™௟௜ ሺ݇ሻሺ݅ ൌ Ͳǡͳǡ ǥ ܳ െ ͳሻ  
1) The principle of the microcontroller
7KH V\VWHP KDUGZDUH LQFOXGHV D VLQJOHFKLS
ଵି௙మ ሺ௫ሻ PLFURFRPSXWHU PRGXOH ZLWK $7& VLQJOHFKLS
:KHUH݂ ᇱ ሺ‫ݔ‬ሻ ൌ ǡ ݃ᇱ ሺ‫ݔ‬ሻ ൌ ൫ͳ െ ݃ሺ‫ݔ‬ሻ൯       
ଶ PLFURFRPSXWHUDVWKHFRUH7KHLQSXWFRPPDQGRIWKHFRQWURO
,QWKH%33,'QHXUDOQHWZRUNFRQWUROOHUWKHVHWYDOXHDQG PRGXOH LV WUDQVIHUUHG WR WKH VLQJOHFKLS PLFURFRPSXWHU DQG

863

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.
WKH 3:0 VLJQDO RXWSXW E\ 67&& LV FRQVWUXFWHG E\ WKH KLJKOHYHO VLJQDO ZKHQ WKH PRWRU DFFHOHUDWHV ERWK DUH
GHOD\ IXQFWLRQ LQ NHLO 7KH 3:0 VLJQDO LV VHQW WR WKH GULYH ORZOHYHO VLJQDO PRWRU GHFHOHUDWLRQ 7KH HQDEOH HQG (1$ LV
WKURXJK WKH SURWHFWLRQ RI WKH SKRWRFRXSOHU 02& &KLS ORZWKHPRWRUVWRSVWXUQLQJ
/DIWHUDFHUWDLQYROWDJHDPSOLILFDWLRQGULYHVWKHPRWRUWR
ZRUNDQGWKHQWKHSKRWRHOHFWULFHQFRGHUIHHGVEDFNWKHPRWRU
VSHHGWRWKHVLQJOHFKLSPLFURFRPSXWHUDGMXVWVLWWKURXJKWKH
VSHHGFRQWUROPRGXOHDQGGLVSOD\VWKHPRWRUVSHHGRQWKHFR
DQRGHGLJLWDOWXEHGLVSOD\
2) Drive circuit composition
7KH PLFURPRWRU GULYH LQWHJUDWHG FLUFXLW FKLS /1 LV D
GXDO +EULGJH PRWRU GULYH FKLS ZLWK D ORJLF FLUFXLW RI 
FKDQQHOV966FRQQHFWVORJLFWRFRQWUROWKHSRZHUVXSSO\96
LV SRZHUHG E\ DQ HOHFWULF PRWRU ,1 ,1 LQSXW SLQ IRU WKH
VWDQGDUG 77/ORJLF OHYHO VLJQDOXVHG WR FRQWURO WKH + EULGJH 
RQ DQG RII WR DFKLHYH WKH SRVLWLYH DQG UHYHUVH PRWRU (1$ )LJXUH&LUFXLWVFKHPDWLFGLDJUDPRIVSHHGUHJXODWLRQV\VWHP
(1%SLQIRUWKHHQDEOHFRQWUROHQGDQGHQWHUWKH3:0VLJQDO
WRDFKLHYHPRWRUVSHHGFRQWURO ,9 ([SHULPHQWDOUHVXOWVDQGVLPXODWLRQ
,Q WKH /1 GULYHSURFHVVWKH ILUVW HQDEOHG HQG (1$ LV A. Brushless DC motor simulation model
KLJKLQSXW,1LV3:0VLJQDO,1LVDORZVLJQDOWKHPRWRU 7KH VLPXODWLRQ PRGHO RI D SHUPDQHQW PDJQHW EUXVKOHVV
LVWXUQLQJWKHLQSXW,1LVDORZVLJQDO,1LV3:0VLJQDO '& PRWRU FDQ EH REWDLQHG E\ W\SLQJ SRZHUBEUXVKOHVV '&
WKH PRWRU UHYHUVHV ,1 LV WKH VDPH DV ,1 DQG ERWK DUH PRWRULQ0$7/$%DVVKRZQLQWKHILJXUHEHORZ


)LJXUH3HUPDQHQWPDJQHWEUXVKOHVV'&PRWRUVLPXODWLRQPRGHOGLDJUDP

,Q RUGHU WR FRQWURO WKH PRWRU VSHHG WKH PRGHO DGRSWV
VSHHGFORVHGORRSFRQWUROVSHHGORRSXVHV3,FRQWUROOHUVSHHG
ORRS RXWSXW GHWHUPLQHV WKH LQYHUWHU '& EXV YROWDJH VL]H '&
EXVYROWDJHVL]HGHWHUPLQHVWKHLQYHUWHURXWSXWYROWDJHVL]H
$PRQJ WKHP VWDWRU FXUUHQW DQG EDFN HOHFWURPRWLYH IRUFH
ZDYHIRUPVDUHVKRZQLQWKHILJXUHEHORZ


)LJXUH6WDWRUFXUUHQWDQGEDFNHOHFWURPRWLYHIRUFHZDYHIRUPRIWKHPRWRU

864

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.
7KHURWRUVSHHGZDYHIRUPLVVKRZQLQWKHILJXUHEHORZ


)LJXUH(OHFWURPDJQHWLFWRUTXHZDYHIRUPRISHUPDQHQWPDJQHWEUXVKOHVV
'&PRWRU

 7KHQ WKH VLPXODWLRQ RI EUXVKOHVV '& PRWRU FRQWURO LV


)LJXUH6SHHGZDYHIRUPRISHUPDQHQWPDJQHWEUXVKOHVV'&PRWRU FDUULHG RXW E\ XVLQJ 6LPXOLQN 7KH PRGHO FRQVWUXFWLRQ DQG
LPDJHRXWSXWDUHDVIROORZV
7KH HOHFWURPDJQHWLF WRUTXH ZDYHIRUP LV VKRZQ LQ WKH
ILJXUHEHORZ


)LJXUH%UXVKOHVV'&PRWRUFRQWURO0$7/$%VLPXODWLRQGLDJUDP

7KH VWUXFWXUH RI VXEV\VWHP LV VKRZQ LQ WKH ILJXUH EHORZ


)LJXUH,QWHUQDOVWUXFWXUHGLDJUDPRIVXEV\VWHP

865

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.
7KH RXWSXW LPDJHV RI $SKDVH FXUUHQW +DOO VLJQDO DQG
URWRUPHFKDQLFDO$QJOHDUHVKRZQEHORZ


)LJXUH$SKDVHFXUUHQWZDYHIRUP 
)LJXUH6SHHGUHVSRQVHFXUYHRIWUDGLWLRQDO3,'FRQWURO

$IWHUWKHEDVLF3,'LVFRPSOHWHGZHPRGLI\WKHYDOXHVRI
.S.L DQG .G LQ WKH SURJUDP DQG EULQJWKHP LQWR WKH FRGH
RQH E\ RQH WKURXJK WKH HVWDEOLVKPHQW RI DQ DUUD\ WR JHW WKH
RXWSXWVXEJUDSKPDWUL[DVVKRZQEHORZ


)LJXUH+DOOVLJQDODQGURWRUPHFKDQLFDO$QJOHRXWSXWGLDJUDP

)URP WKH DERYH VLPXODWLRQ UHVXOWV LW FDQ EH VHHQ WKDW WKH
V\QFKURQRXV SHUPDQHQW PDJQHW PRWRU V\VWHP FDQ UXQ VWDEO\
VKRZLQJJRRG G\QDPLF VWDELOLW\ DQG WKH ZDYHIRUP FRQIRUPV
WR WKH WKHRU\ $W ORZ VSHHG WKH RXWSXW WRUTXH RI SHUPDQHQW
PDJQHWV\QFKURQRXVPRWRULVODUJHDQGWKHHIILFLHQF\LVKLJK
7KURXJK FRQWURO WKH FKDUDFWHULVWLFV RI '& PRWRU FDQ EH
RXWSXW%HVLGHVLWVOLJKWZHLJKWVPDOOVL]HKLJKSRZHUGHQVLW\
DQGVWURQJRYHUORDGFDSDFLW\PDNHLWWKHPDLQVWUHDPPRWRULQ 
HOHFWULFYHKLFOHV )LJXUH6SHHGUHVSRQVHVXEJUDJKPDWUL[RIWUDGLWLRQDO3,'FRQWURODIWHU
B. PID control based on position loop DGMXVWPHQW

3,' FRQWURO LV D UHODWLYHO\ PDWXUH FRQWURO PHWKRG DSSOLHG ,WFDQEHVHHQWKDWWKHUHVSRQVHRIWKHSRVLWLRQORRSV\VWHP


LQHTXLSPHQWFRQWURODQGDXWRPDWLFSURGXFWLRQDWSUHVHQW7KH LV UHODWLYHO\ VORZ ZKHQ WKH YDOXHV RI .S .L DQG .G DUH
DOJRULWKP LV UHODWLYHO\ VLPSOH ZKLOH WKH V\VWHP KDV KLJK DGMXVWHG DQG WKH VLGH HIIHFWV RI RVFLOODWLRQ DQG FRQWURO
VWDELOLW\ DQG JRRG UREXVWQHVV $W SUHVHQW WKH WKUHHORRS 3,' TXDQWLW\ VDWXUDWLRQ RFFXU HDVLO\ +RZHYHU WKH LQKLELWLQJ
QHJDWLYH IHHGEDFN FRQWURO V\VWHP FRPSRVHGRI SRVLWLRQ ORRS DELOLW\RIWKHLQWHJUDOOLQNLVQRWVLJQLILFDQWIRUWKHGLVWXUEDQFH
YHORFLW\ ORRS DQG FXUUHQW ORRS LV XVXDOO\ DGRSWHG>@ 7KH WKDWFKDQJHVZLWKWLPH0RGLI\LQJ.SZLOOUHVXOWLQDVKRUWHU
RXWHUPRVW ULQJ LV WKH SRVLWLRQ ULQJ DQG WKH SRVLWLRQ LV ULVLQJ WLPH EXW PD\ DOVR UHVXOW LQ D ODUJHU RYHUVKRRW
FRQWUROOHG E\ GHWHFWLQJ WKH SRVLWLRQ LQIRUPDWLRQ RI WKH FRGH 7KHUHIRUHDSSO\LQJWKHWUDGLWLRQDO3,'FRQWUROWR3060FDQ
GLVN ,WV RXWSXW LV WKH VHWWLQJ RI WKH VSHHG ULQJ WR FRQWURO WKH QRWJHWLGHDOUHVXOWV>@2WKHUWHFKQRORJLHVVKRXOGEHXVHGWR
VSHHGDQGFXUUHQW LPSURYHWKHFRQYHQWLRQDO3,'FRQWUROIRUWKHFRQWUROPRWRURI
7KHWIIXQFWLRQLVXVHGWRHVWDEOLVKWKHV\VWHPVWUXFWXUHDQG QHZHQHUJ\YHKLFOHVZKLFKUHTXLUHVKLJKVHQVLWLYLW\RIVSHHG
REWDLQ WKH WUDQVIHU IXQFWLRQ RI WKH GLVFUHWH V\VWHP ZKLFK LV UHJXODWLRQ
WKHQ FRQYHUWHG LQWR D GLIIHUHQFH HTXDWLRQ 7KH RXWSXW 3,' C. Experiment of BP neural network
FRQWUROFXUYHLVDVIROORZV
1) BP neural network simulation model
([SHULPHQWDOGDWDVHWWLQJ 
,Q RUGHU WR YHULI\ WKH HIIHFW RI %33,' FRQWURO D GRXEOH
FORVHGORRS VLPXODWLRQ PRGHO RI PRWRU LV EXLOW DFFRUGLQJ WR
WKH DERYH SDUDPHWHUV 3, HUURUIUHH FRQWURO LV DGRSWHGIRU WKH
FXUUHQW LQQHU ORRS DQG WKH FXUUHQW ORRS UHJXODWRU LV GHVLJQHG

866

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.
DFFRUGLQJWRWKHW\SLFDO,W\SHV\VWHP$WWKHVDPHWLPHWKH3, )LQDOO\ EXLOG D VLPXODWLRQ PRGHO RQ 0DWODE DV VKRZQ LQ WKH
SDUDPHWHUV RI WKH FXUUHQW ORRS DUH FDOFXODWHG %33,' QHXUDO IROORZLQJILJXUH
QHWZRUNLVXVHGWRFRQWUROWKHRXWHUORRSRIURWDWLQJVSHHG>@


)LJXUH6LPXODWLRQGLDJUDPRIGRXEOHFORVHGORRSV\VWHPRI'&PRWRUZLWK%33,'FRQWUROOHU

$PRQJ WKHP %33,' QHXUDO QHWZRUN LV VLPXODWHG E\


V\VWHPPRGXOHDQGLWVVXEV\VWHPVWUXFWXUHLVDVIROORZV


)LJXUH.GSDUDPHWHUFKDQJHFXUYH

 ,WFDQEHVHHQIURPWKHDERYHVLPXODWLRQUHVXOWVWKDWQHXUDO
)LJXUH6XEV\VWHP6WUXFWXUH'LDJUDP QHWZRUN FRQWURO FDQ DGDSWLYHO\ OHDUQ EHWWHU 3,' FRQWURO
SDUDPHWHUV WKURXJK HUURU EDFN SURSDJDWLRQ ,W FDQ EH VHHQ
2) Simulation results and analysis of double closed-loop IURP WKH V\VWHP VLPXODWLRQ RXWSXW FXUYH WKDW WKH PD[LPXP
motor system based on BP neural network VSHHGRIWKHPRWRULVUVDQGWKHPLQLPXPVSHHGLVUV
XQGHU WKH DFWLRQ RI %33,' FRQWURO &RPSDUHG ZLWK WKH
WUDGLWLRQDO 3,' FRQWURO WKH RYHUVKRRW LV OHVV WKDQ  WKH
RVFLOODWLRQ SHULRG LV VPDOO DQG WKH DWWHQXDWLRQ UDWH LV DERXW
 ZKLFK VKRZV WKDW WKH V\VWHP KDV JRRG VWDELOLW\ DQG
G\QDPLF VWDELOLW\ DQG GRHV QRW QHHG FRPSOLFDWHG SDUDPHWHU
WXQLQJ &RPSDUHG ZLWK WKH RULJLQDO 3,' DGMXVWPHQW LW KDV
KLJKHUHIILFLHQF\DQGEHWWHUDGMXVWPHQWHIIHFW

)LJXUH%3QHXUDOQHWZRUNFRQWURODQGWUDGLWLRQDO3,'FRQWURO 


)LJXUH&RPSDULVRQEHWZHHQ%3FRQWURODQGWUDGLWLRQDO3,'FRQWUROXQGHU
 VWHSGLVWXUEDQFH
)LJXUH.SSDUDPHWHUFKDQJHFXUYH
:KHQWKHVLPXODWLRQWLPHLVVWHSGLVWXUEDQFHLVDGGHG
DQG WKH V\VWHP
V RXWSXW XQGHU WKH FRQWURO RI QHXUDO QHWZRUN
UHFRYHUV WR D QRUPDO VWDWH LQ DERXW  VHFRQGV DQG WKH
PD[LPXPPRWRUVSHHGULVHVWRUV+RZHYHUWUDGLWLRQDO
3,' FRQWURO QHHGV D ORQJHU WLPH WR UHFRYHU WR D VWDEOH VWDWH
DQGWKHPD[LPXPPRWRUVSHHGULVHVWRUV,WFDQEHVHHQ
WKDW WKH FRQWURO HIIHFW RI QHXUDO QHWZRUN FRQWUROOHU LV EHWWHU
DQGWKHDQWLLQWHUIHUHQFHDELOLW\RIWKHV\VWHPLVVWURQJHU
 D. Microcontroller control model experiment
)LJXUH.LSDUDPHWHUFKDQJHFXUYH $FFRUGLQJ WR WKH DERYH FLUFXLW WKH SURWHXV VLPXODWLRQ

867

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.
VRIWZDUHLVXVHGWREXLOGDVLPXODWLRQ FLUFXLWDQGWKHZULWWHQ YHKLFOHVXQGHUGLIIHUHQWFRQGLWLRQVVXFKDVKLJKDQGORZVSHHG
NHLO FRGH LV LQWURGXFHG LQWR  VLQJOHFKLS PLFURFRPSXWHU DFFHOHUDWLRQDQGGHFHOHUDWLRQSHUWXUEDWLRQ
5XQWKHVLPXODWLRQFLUFXLWWRILOOLQWKHYDOXHVGLVSOD\HGRQWKH
VFUHHQLQWKHWDEOHEHORZ7KURXJKH[SHULPHQWDOGDWDLWLVQRW 5HIHUHQFH
GLIILFXOW WR ILQG WKDW WKH FRQWURO RI '& PRWRU PRWLRQ FDQ EH >@ $6%DVHUDDQG'59RUD9DULDEOHIUHTXHQF\VWDUWRI3060PRWRU
DFKLHYHGE\NH\VWURNHVDQGPLFURFRQWUROOHUV EDVHGRQ670IQG,QWHUQDWLRQDO&RQIHUHQFHRQ,QYHQWLYH
6\VWHPV DQG &RQWURO ,&,6&   SS  GRL
$W WKH VDPH WLPH DWWDFK WKH FRUUHVSRQGLQJ VLPXODWLRQ ,&,6&
UHVXOWVPDS >@ 6RQJ\DQ 1LX +DLTL ;X =KLUXL 6XQ =< 6KDR /LQQL -LDQ7KH
VWDWHRIWKHDUWV RI ZLUHOHVV HOHFWULF YHKLFOH FKDUJLQJ YLD PDJQHWLF
3UHVV WKH SRVLWLYH WXUQ DQG VZLWFK EXWWRQV DQG WKH PRWRU UHVRQDQFH SULQFLSOHV VWDQGDUGV DQG FRUH WHFKQRORJLHV5HQHZDEOH DQG
ZLOO IXQFWLRQQRUPDOO\+RZHYHUZKHQWKHUROOEDFNEXWWRQ LV 6XVWDLQDEOH (QHUJ\ 5HYLHZV9ROXPH ,661
SUHVVHGWKHGLUHFWLRQRIURWDWLRQRIWKHPRWRUFKDQJHV KWWSVGRLRUJMUVHU
>@ $ ,TEDO DQG 2 6LQJK 0D[LPXP WRUTXH SHU DPSHUH FRQWURO RI
VL[SKDVH V\QFKURQRXV PRWRU  ,QWHUQDWLRQDO &RQIHUHQFH RQ
&RQWURO &RPSXWLQJ &RPPXQLFDWLRQ DQG 0DWHULDOV ,&&&&0  
SSGRL,&&&&0
>@ 0$5DP\D63-DGKDYDQG613DZDU'HVLJQDQG,PSOHPHQWDWLRQ
RI3DUWLFOH6ZDUP2SWLPL]DWLRQ 362 7XQHG3,'&RQWUROOHUIRU6SHHG
&RQWURORI3HUPDQHQW0DJQHW%UXVK/HVV'& 30%/'& 0RWRU
 ,QWHUQDWLRQDO&RQIHUHQFHIRU(PHUJLQJ7HFKQRORJ\ ,1&(7 SS
)LJXUH3RVLWLYHWXUQ       )LJXUH5ROOEDFN GRL,1&(7
>@ ' 6DQGHHS 3 6ULNDQWK % 6 3UDQHHWK - 3HWHU DQG 6 $WKLNNDO
%DFN WR WKH SRVLWLYH WXUQ WKH PRWRU UXQV IDVWHU ZKHQ WKH ,QYHVWLJDWLRQV RQ 6SDFH 9HFWRU EDVHG %XV &ODPSLQJ 3:0 6WUDWHJLHV
DFFHOHUDWLRQ NH\ LV SUHVVHG 3UHVV WKH GHFHOHUDWLRQ NH\ LQ D RQ 6SHHG &RQWURO RI ,QGXFWLRQ 0RWRU 'ULYH  ,QWHUQDWLRQDO
SRVLWLYHWXUQVWDWH &RQIHUHQFH RQ 3RZHU (OHFWURQLFV $SSOLFDWLRQV DQG 7HFKQRORJ\ LQ
3UHVHQW (QHUJ\ 6FHQDULR 3(73(6   SS  GRL
3(73(6
>@ :7DQJDQG6&DR$)DVW5HDOL]DWLRQ0HWKRGRI)X]]\3,'&RQWURO
IRU'&0RWRUWK&KLQHVH&RQWURO&RQIHUHQFH &&& SS
GRL&KL&&
>@ 6 . 6XPDQ 0 . *DXWDP 5 6ULYDVWDYD DQG 9 . *LUL 1RYHO
DSSURDFK RI VSHHG FRQWURO RI 3060 GULYH XVLQJ QHXUDO QHWZRUN
 FRQWUROOHU,QWHUQDWLRQDO&RQIHUHQFHRQ(OHFWULFDO(OHFWURQLFVDQG
)LJXUH$FFHOHUDWLRQ    )LJXUH'HFHOHUDWLRQ 2SWLPL]DWLRQ 7HFKQLTXHV ,&((27   SS  GRL
,&((27
7DEOHპNH\VWULNHVDQGVFUHHQGLVSOD\GDWDVKHHWV >@ 36'DLQH]DQG(%LP,PSOHPHQWDWLRQGHWDLOVRIDQDGDSWLYHFRQWURO
E\ D EVSOLQH QHXUDO QHWZRUN DSSOLHG WR DQ DV\PPHWULF VL[SKDVH
%XWWRQ 0RWRUVSHHG LQGXFWLRQ PRWRU  %UD]LOLDQ 3RZHU (OHFWURQLFV &RQIHUHQFH
&2%(3 SSGRL&2%(3
6ZLWFK3RVLWLYHWXUQ 
>@ 8$QVDUL6$ODPDQG60X1-DIUL0RGHOLQJDQG&RQWURORI7KUHH
5ROOEDFN  3KDVH %/'& 0RWRU 8VLQJ 3,' ZLWK *HQHWLF $OJRULWKP  8N6LP
'HFHOHUDWH  WK ,QWHUQDWLRQDO &RQIHUHQFH RQ &RPSXWHU 0RGHOOLQJ DQG 6LPXODWLRQ
SSGRL8.6,0
+DVWHQ 
>@6 :DQJ DQG 6 ;X ,PSURYHPHQW RI )X]]\ 3,' $OJRULWKP %DVHG RQ
6ZLWFK  9DULDEOH 'RPDLQ 7KHRU\  ,QWHUQDWLRQDO &RQIHUHQFH RQ &RPSXWHU
1HWZRUN(OHFWURQLFDQG$XWRPDWLRQ ,&&1($ SSGRL
9 6XPPDU\DQGSURVSHFW ,&&1($
>@&/,8*+&$2DQG<<485HVHDUFKRQ6HUYR&RQWURO6\VWHP
7KH FRUH RI WKLV SDSHU LV EDVHG RQ WKH QHXUDO QHWZRUN RI RI (PEHGGHG $& 3HUPDQHQW 0DJQHW 6\QFKURQRXV 0RWRU  ,(((
'& VSHHG FRQWURO HOHFWULF YHKLFOH FRQWURO GHVLJQ WKH WK -RLQW ,QWHUQDWLRQDO ,QIRUPDWLRQ 7HFKQRORJ\ DQG $UWLILFLDO
GHYHORSPHQW RI HOHFWULF YHKLFOHV DW KRPH DQG DEURDG DQG WKH ,QWHOOLJHQFH &RQIHUHQFH ,7$,&   SS  GRL
NH\ WHFKQRORJ\ RI IRXUZKHHO LQGHSHQGHQW GULYH HOHFWULF ,7$,&
YHKLFOH FRQWURO UHVHDUFK 7KHQ EDVHG RQ WKH VLQJOHFKLS >@6KDRVKHQJ )DQ DQG+DL]KRX =KX 6LPXODWLRQ RIWKH IX]]\ 3,' FRQWURO
PLFURFRPSXWHU FRQWURO V\VWHP WKH EDVLF 3,' FRQWURO RI WKH V\VWHP IRU %UXVKOHVV '& PRWRUV EDVHG RQ 0$7/$% ,QWHUQDWLRQDO
&RQIHUHQFH RQ $XWRPDWLF &RQWURO DQG $UWLILFLDO ,QWHOOLJHQFH $&$,
PRWRU VSHHG LV UHDOL]HG DQG WKH VHFRQG FRQWURO VWUDWHJ\  SSGRLFS
DQDO\VLV IRU WKH QHZ HQHUJ\ HOHFWULF YHKLFOH XQGHU GLIIHUHQW >@=-LQJ:6KLFKDR-<DQ\DQDQG=;LDQJ,QGXFWLRQPRWRUFRQWURO
ZRUNLQJFRQGLWLRQVLVUHDOL]HGDQGWKHFRQWUROVWUDWHJ\RIWKH EDVHG RQ %3 QHXUDO QHWZRUN DQG DGDSWLYH 3,' 3URFHHGLQJV RI 
EUXVKOHVV '& PRWRU LV GHWHUPLQHG 7KLUGO\ WKH QHZ HQHUJ\ QG ,QWHUQDWLRQDO &RQIHUHQFH RQ &RPSXWHU 6FLHQFH DQG 1HWZRUN
HOHFWULF YHKLFOH PRWRU GULYH FRQWURO V\VWHP DGRSWV GXDO 7HFKQRORJ\SSGRL,&&617
FORVHGORRSFRQWUROPRGHWKHLQQHUULQJLVWKHFXUUHQWULQJWKH >@ 1 /LX DQG ) :DQJ $ QHZ SRVLWLRQ FRQWURO PHWKRG IRU OLIW PRWRUV
3, FRQWURO LV XVHG WKH RXWHU ULQJ LV WKH VSHHG ULQJ DQG WKH WK&KLQHVH&RQWURO$QG'HFLVLRQ&RQIHUHQFH &&'& SS
GRL&&'&
IX]]\ %3 QHXUDO QHWZRUN FRQWURO LV XVHG $LPLQJ DW WKH
>@ + /X : 6KX\XDQ DQG / 6KHQJQDQ 6WXG\ DQG VLPXODWLRQ RI
QRQOLQHDU DQG PXOWLYDULDEOH FKDUDFWHULVWLFV RI EUXVKOHVV '& SHUPDQHQW PDJQHW V\QFKURQRXV PRWRUV EDVHG RQ QHXURQ VHOIDGDSWLYH
PRWRU FRQWURO V\VWHP WKH IX]]\ %3 QHXUDO QHWZRUN FRQWURO 3,'&KLQHVH$XWRPDWLRQ&RQJUHVV &$& SS
DOJRULWKP LV GHVLJQHG WR FRPSOHWH WKH VLPXODWLRQ RI HOHFWULF GRL&$&

868

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.
>@::DVXVDWHLQ61LWWD\DZDQDQG:.RQJSUDZHFKQRQ6SHHG&RQWURO &RQIHUHQFH RQ ,QIRUPDWLRQ DQG &RPPXQLFDWLRQ 7HFKQRORJ\ IRU
8QGHU /RDG 8QFHUWDLQW\ RI ,QGXFWLRQ 0RWRU 8VLQJ 1HXUDO 1HWZRUN (PEHGGHG 6\VWHPV ,&(6,7,&,&7(6   SS  GRL
$XWR7XQLQJ 3,' &RQWUROOHU  ,QWHUQDWLRQDO &RQIHUHQFH RQ ,&(6,7,&,&7(6
(PEHGGHG 6\VWHPV DQG ,QWHOOLJHQW 7HFKQRORJ\  ,QWHUQDWLRQDO


869

Authorized licensed use limited to: UNIVERSIDAD POLITECNICA SALESIANA. Downloaded on March 08,2022 at 00:21:50 UTC from IEEE Xplore. Restrictions apply.

Das könnte Ihnen auch gefallen