Nonlinear tracking control of brushless DC motors for high-performance applications

Author

Hemati, Neyram ; Leu, Ming C.

Author_Institution

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

fYear

1989

fDate

13-15 Dec 1989

Firstpage

527

Abstract

The tracking control problem associated with brushless DC motors (BLDCMs) for high-performance applications is considered. To guarantee their high-dynamic-performance operation in motion control systems, the magnetic saturation and reluctance variation effects are accounted for in the BLDCM mathematical model. The trajectory tracking control problem is addressed in the context of the transformation theory of nonlinear systems. A nonlinear control law is implemented and shown to compensate for the nonlinearities of a BLDCM. A case study is presented in which a direct-drive inverted pendulum actuated by a BLDCM is used to investigate the effectiveness of the control law. The effectiveness of the proposed control in compensating for modeling errors, external disturbances, and measurement errors is demonstrated

Keywords

DC motors; machine control; nonlinear control systems; brushless DC motors; direct-drive inverted pendulum; high-performance applications; magnetic saturation; motion control systems; nonlinear control; nonlinear systems; reluctance variation; tracking control; trajectory tracking control; transformation theory; Brushless DC motors; Control nonlinearities; Control systems; Error correction; Mathematical model; Motion control; Nonlinear control systems; Nonlinear systems; Saturation magnetization; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1989., Proceedings of the 28th IEEE Conference on

Conference_Location

Tampa, FL

Type

conf

DOI

10.1109/CDC.1989.70169

Filename

70169