中文摘要：

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。

英文摘要：

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 control- ler has better tracking characteristics, robustness and adaptability compared with traditional PID controllers.