摘要：针对永磁同步电机直接转矩控制存在转矩脉动较大的问题，引入双模糊自适应控制策略。转速控制环中，以模糊自适应PID调节器替代常规PI调节器，实现控制参数的实时自整定。转矩控制环中，将转矩及磁链的误差模糊分级，设计MIMO模糊控制器，取代传统直接转矩控制中的滞环控制器和开关表，消除滞环宽度对转矩脉动的影响，选择基本电压矢量更精确。仿真结果表明，与基于电压空间矢量的直接转矩控制相比，引入双模糊自适应控制策略和零电压矢量后，可进一步改善转速跟随性和负载转矩的抗干扰性能，转矩脉动减小，磁链轨迹圆度更好。

关键词：永磁同步电机；直接转矩控制；模糊自适应PID；转矩脉动；零电压矢量
Abstract: To minimize the ripples of the electromagnetic torque produced in the conventional direct torque control (DTC) system for permanent synchronous motors (PMSM), a method of double fuzzy adaptive control strategy based on fuzzy control theory was introduced. In the speed control loop, the basic PI regulator was replaced by the fuzzy adaptive PID regulator, and PID parameters’ real-time self-tuning was realized. In torque control loop, the torque error and flux error were classified vaguely; the hysteresis controller and switch table in the conventional DTC system were replaced by the multiple inputs and multiple outputs (MIMO) fuzzy controller, to eliminate the torque ripple caused by hysteresis width, to select the basic voltage vector precisely. Simulation results shows that double fuzzy adaptive DTC system has better speed following performance and torque disturbance resistance than voltage space vector DTC(SVPWM-DTC). The torque ripples are reduced, and the flux trajectory is more close to round,by the strategy of double fuzzy adaptive control and action of zero voltage vectors.

Key words: permanent magnet synchronous motor; direct torque control; fuzzy adaptive PID; torque ripple; zero voltage vectors