Learning control of brushless DC motors for motion control applications

The authors present a discrete iterative learning control scheme to achieve high performance for permanent magnet brushless DC motor (BLDCM) servosystems such as direct drive robots carrying out repetitive cycles of operation. The method is not too demanding computationally since the dynamic model of the system is not involved. The authors demonstrate the effectiveness of the learning control method by simulation studies that are performed on a BLDCM model including the inverter with switching operations and the instantaneous torque control scheme as an inner control loop to eliminate torque pulsation