摘要：通过借鉴生物免疫系统中的反馈机制，基于抗原、T细胞以及B细胞间的浓度关系数学模型，设计了一种新型的免疫控制器并用于无刷直流电机速度控制系统。该系统采用双闭环的控制结构，其中PID控制器作为内环控制器，而将免疫反馈控制器作为外环控制器，用来增强系统的抗负载扰动能力并能抑制转速波动，保证系统的动态和静态跟踪性能。仿真结果表明，与传统控制器相比，所设计的免疫控制器具有较好的动态特性和跟踪特性，并且具有较强的自适应性和鲁棒性。

关键词：免疫反馈；免疫反馈控制器；双闭环系统；无刷直流电机
Abstract: Motivated by biological immune feedback theory and models, derived a novel immune feedback controller for brushless DC motor. The current and speed double closeloop control was adopted, in which the immune feedback controller was applied in the speed loop for improving antiinterfere ability and the PID controller was applied in the current loop. The simulation results show that the proposed immune feedback controller has better tracking characteristics, robustness and adaptability compared with traditional PID controllers.

Key words: immune feedback principles; immune feedback controller; double closeloop system; brushless DC motor