A Position Control of a BLDC Motor Actuator Using Time Delay Control and Enhanced Time Delay Observer

This paper presents a position control of a brushless DC (BLDC) motor actuator using time delay control (TDC) and enhanced time delay observer (ETDO). As TDC is robust to the model uncertainties such as the parameter variation and external disturbance, it has been widely used in nonlinear control systems. For a position control of a BLDC motor actuator, TDC requires the velocity sensor as well as the position sensor. To eliminate the problems of the cost, space and malfunction due to added velocity sensor, ETDO is used instead of the velocity sensor. ETDO is enhanced version of TDO that has the problems of the reconstruction errors and the restriction on selecting is gains. The effectiveness of this approach is verified through nonlinear simulation and compared with the cases using the velocity sensor and state observer