Nonlinear feedforward control of brushless DC motors (BLDCM)

In this paper, we propose a new feedforward control scheme for the control of brushless DC motors. We adopt a novel disturbance torque suppressor to eliminate the effects of the disturbance torque, uncertain inertia moment, and nonlinear friction, so that the new controller makes the velocity error to be zero at any state even when the moment of inertia and viscous friction are varying. We can, thereby, overcome the drawbacks of the conventional PI (proportional and integral) and feedforward controller. The performance of the new controller is analyzed theoretically and some simulation results are presented to demonstrate the superior tracking performance of our controller over the conventional PI controllers and feedforward controllers