New feedforward control of brushless DC motors (BLDCM) using a novel disturbance suppresser

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