The global and local dynamics of direct-drive brushless DC motors

Author

Hemati, N.

Author_Institution

Dept. of Mech. Eng. & Mech., Drexel Univ., Philadelphia, PA, USA

fYear

1992

fDate

12-14 May 1992

Firstpage

1858

Abstract

The dynamic characteristics of direct-drive brushless DC motors (BLDCMs) are investigated. A model for BLDCMs which is governed by a set of nonlinear differential equations is presented. Both global and local characteristics are presented. Since most users of BLDCM incorporate linear control laws to control their nonlinear dynamic characteristics, the local dynamics are specially useful. The results presented provide guidelines for designing controllers for BLDCM systems. As an alternative to the use of linear current control loops, a nonlinear control law is presented which, while being more complex in terms of implementation, will work in a global sense

Keywords

DC motors; dynamics; machine control; machine theory; nonlinear control systems; nonlinear differential equations; direct-drive brushless DC motors; global dynamics; local dynamics; machine control; nonlinear control; nonlinear differential equations; nonlinear dynamic characteristics; Brushless DC motors; Brushless motors; Control systems; Current control; DC motors; Gears; Mechanical engineering; Robots; Synchronous motors; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.219957

Filename

219957