Title :
Nonlinear tracking control of brushless DC motors for high-performance applications
Author :
Hemati, Neyram ; Leu, Ming C.
Author_Institution :
Dept. of Mech. Eng., Drexel Univ., Philadelphia, PA, USA
Abstract :
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
Keywords :
DC motors; machine control; nonlinear control systems; brushless DC motors; direct-drive inverted pendulum; high-performance applications; magnetic saturation; motion control systems; nonlinear control; nonlinear systems; reluctance variation; tracking control; trajectory tracking control; transformation theory; Brushless DC motors; Control nonlinearities; Control systems; Error correction; Mathematical model; Motion control; Nonlinear control systems; Nonlinear systems; Saturation magnetization; Trajectory;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70169
