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
N. Hemati and M. Leu, "Nonlinear Tracking Control of Brushless DC Motors for High-Performance Applications," Proceedings of the 28th IEEE Conference on Decision and Control, 1989, Institute of Electrical and Electronics Engineers (IEEE), Jan 1989.
The definitive version is available at https://doi.org/10.1109/CDC.1989.70169
28th IEEE Conference on Decision and Control, 1989
Mechanical and Aerospace Engineering
Keywords and Phrases
DC motors; brushless DC motors; direct-drive inverted pendulum; high-performance applications; machine control; magnetic saturation; motion control systems; nonlinear control; nonlinear control systems; nonlinear systems; reluctance variation; tracking control; trajectory tracking control; transformation theory
Article - Conference proceedings
© 1989 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.
01 Jan 1989