Brushless direct current motor control method based on improved pid controller

Patent metadata

Field	Value
Publication number	US-2026074638-A1
Application number	US-202418921323-A
Country	US
Kind code	A1
Filing date	Oct 21, 2024
Priority date	Sep 10, 2024
Publication date	Mar 12, 2026
Grant date	—

Abstract

Provided is a brushless direct current (BLDC) motor control method based on an improved proportional integral derivative (PID) controller, relating to the field of motor control. The method of this application comprises: establishing a squared proportional integral derivative (SPID) controller integrating a squared error term; determining a sign of a gain coefficient of the squared error term in the SPID controller based on an error between an actual speed and a target speed of a BLDC motor; determining whether to enable a derivative term of the SPID controller based on whether the actual speed has reached the target speed; using the error between the actual speed and the target speed as an input amount to the SPID controller, and outputting a current control amount; and performing speed control on the BLDC motor based on the current control amount until the error meets an accuracy requirement.

First claim

What is claimed is:

1 . A brushless direct current (BLDC) motor control method based on an improved proportional integral derivative (PID) controller, comprising:
S 1 : establishing a squared proportional integral derivative (SPID) controller integrating a squared error term; S 2 : determining a sign of a gain coefficient of the squared error term in the SPID controller based on an error between an actual speed and a target speed of a BLDC motor; S 3 : determining whether to enable a derivative term of the SPID controller based on whether the actual speed has reached the target speed; S 4 : using the error between the actual speed and the target speed as an input amount to the SPID controller, and outputting a current control amount; and S 5 : performing speed control on the BLDC motor based on the current control amount until the error meets an accuracy requirement.

2 . The BLDC motor control method based on an improved PID controller according to claim 1 , wherein said establishing the SPID controller integrating the squared error term specifically comprises:
establishing the SPID controller based on the following expression:

u
⁡
(
t
)

=

K
S

⁢

e
2

(
t
)

+

K
P

⁢

e
⁡
(
t
)

+

K
I

⁢

∫

0

t

e
⁡
(
t
)

⁢
dt

+

K
D

⁢

de
⁢

(
t
)

dt

,

 wherein e(t) represents the error between the actual speed and the target speed of the BLDC motor; e 2 (t) represents the squared error term; K S represents the gain coefficient of the squared error term; t represents time; K P represents a proportional gain; K I represents an integral gain; K D represents a derivative gain; and u(t) represents the current control amount output by the SPID controller.

3 . The BLDC motor control method based on an improved PID controller according to claim 2 , wherein said determining the sign of the gain coefficient of the squared error term in the SPID controller based on the error between the actual speed and the target speed of the BLDC motor specifically comprises:
calculating the error e(t) between the actual speed y(t) and the target speed r(t) of the BLDC motor based on the following formula: e(t)=r(t)−y(t); and determining the sign of the gain coefficient K S of the squared error term based on the following formula: sgn(K S )=sgn(e(t)).

4 . The BLDC motor control method based on an improved PID controller according to claim 3 , wherein said determining whether to enable the derivative term of the SPID controller based on whether the actual speed has reached the target speed specifically comprises:
after the BLDC motor starts, if the actual speed has not reached the target speed, disabling the derivative term of the SPID controller, and setting K D =0, wherein the SPID controller is expressed as follows:

u
⁡
(
t
)

=

K
S

⁢

e
2

(
t
)

+

K
P

⁢

e
⁡
(
t
)

+

K
I

⁢

∫

0

t

e
⁡
(
t
)

⁢
dt

;

 and
conversely, if the actual speed has reached the target speed, enabling the derivative term, and setting K D to a predetermined value, wherein, the SPID controller is expressed as follows:

u
⁡
(
t
)

=

K
S

⁢

e
2

(
t
)

+

Assignees

• Univ Dongguan Technology

Inventors

• Liu Ruirong
• Wang Jianguo

Classifications

• H02P23/14

  Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage · CPC title

• H02P23/0004 Primary

  Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control · CPC title

• H02P6/08 Primary

  Arrangements for controlling the speed or torque of a single motor (H02P6/10, H02P6/28 take precedence) · CPC title