A variable sampling PI control with variable sampling torque compensation for BLDC motors

This paper discusses the variable sampling phenomenon what occurs in many system, such as brushless DC motor with Hall sensors. Due to the feedback timing is depended on motor speed and variable, the calculation method of PI controller is different from the fixed sampling system. A simulator of variable sampling PI controller is proposed to simulate real response. To improve dynamic response of torque loading change, this paper also proposes a torque load estimator for feedforward compensation including an analog mode and variable sampling mode. The simulation results show that the simulators works well. However, there are some unexpected response is different from fixed sampling system and need to study deeply.