为了解决飞轮储能系统内置永磁无刷直流电机的控制问题，将基于Varela 免疫网络模型的免疫控制器分别用于电机转速和力矩的控制，并给出了这种免疫控制器的控制参数参考值．与传统PID 控制器相比，免疫控制器能够提供稳定的转速控制信号动态响应，有效降低电机转矩脉动幅值，并维持周期性的、相对稳定的变化，使得系统输出电流信号波形畸变小，波形接近理想梯形波，控制参数自适应性好．研究表明，基于Varela 免疫网络模型设计的免疫控制器可作为一种新方法用于飞轮直流无刷电机控制．

In order to effectively control the permanent-magnet brushless direct current motor ( BLDCM) inside aflywheel energy storage system,an immune controller based on the Varela immune network is employed to controlmotor speed and torque,and the reference parameters of the immune controller are determined.As compared withconventional PID controllers,the proposed immune controller provides more stable dynamic response of speed controlsignal,effectively reduces the pulsation magnitude of motor torque and well keeps relative periodic stability,which helps to output system current signal with small distortion and approximate trapezoidal waveform,and to obtainadaptive control parameters.It is thus concluded that the controller based on the Varela immune is effective incontrolling flywheel BLDCM.