Title :
Robust nonlinear position control of BLDC motor with friction
Author :
Sabra, Maha ; Khasawneh, Bashar ; Zohdy, Mohammed
Author_Institution :
Oakland Univ., Oakland, MI, USA
Abstract :
In this paper, the Control Lyapunov Function (CLF) approach is used for position control of permananent magnet BLDC motors. A nonlinear dynamic DC motor model including the nonlinear friction torque is used. The closed loop control used guarantees the system´s stability and achieves the desired behaviour. The robustness of the control method is also proven in regards to the system parameters and to the control parameters which makes it a versatile method with only few control parameters.
Keywords :
Lyapunov methods; brushless DC motors; closed loop systems; friction; machine control; nonlinear control systems; permanent magnet motors; position control; robust control; torque; CLF; closed loop control; control Lyapunov function; nonlinear dynamic DC motor model; nonlinear friction torque; permanent magnet BLDC motors; robust nonlinear position control; Angular velocity; DC motors; Friction; Lyapunov methods; Permanent magnet motors; Robustness; Torque;
Conference_Titel :
Transportation Electrification Conference and Expo (ITEC), 2014 IEEE
Conference_Location :
Dearborn, MI
DOI :
10.1109/ITEC.2014.6861769
