摘要：本文首先对某电动车中2AMT换档电机伺服系统作了介绍，然后以无刷直流电机作为换档电机，完成了2AMT自动换档控制方案设计。为了满足系统设计指标，伺服系统使用电流、速度、位置三闭环控制。电流环利用PD控制的全桥PWM驱动，速度环利用传统PI，位置环利用自整定模糊PID，并详细介绍了模糊PID的设计方法。之后在Matlab/Simulink 中进行仿真分析,并与传统PID控制对比，达到了电机快速响应的要求，解决了电机在定位点震动的问题。

关键词：无刷直流电动机；换档电机；三闭环；模糊控制
Abstract: In this paper, introduced 2AMT（Automated Mechanical Transmission） shifting motor servo system in electric vehicles firstly, and then using BLDCM as shifting motor, finished the design of 2 AMT control project. For the requirement of performance, the strategy of three closed loops control, including position loop, speed loop and current loop, were adopted. The current loop used PD control with all-bridge PWM driving, the speed loop used traditional PI, the position loop used algorithm of fuzzy PID and the designing method was introduced in detail. And then, the model was simulated with Matlab/Simulink tools, and contrasted with traditional PID control. In the end, the request of motor′s quick response was reached, and vibration of motors was also solved well.

Key words: DC brushless; shifting motor; three closed loops; fuzzy control