Fast prototyping of three-phase BLDC motor controller designed on the basis of dynamic contraction method

The main purpose of this paper is to design a speed controller for a brushless dc (BLDC) motor, based on the Dynamic Contraction Method (DCM). The control task is formulated as a tracking problem of a motor speed, where output transients are accomplished in spite of incomplete information about varying parameters of the system and external disturbances. Developed structure allows to connect the software package to physical system, and provide for rapid prototyping and hardware-in-the-loop simulation in real time. To drive this system effectively, a DCM method is applied and implemented to produce the desired dynamic of output. DCM controller and the developed control scheme are theoretically analyzed and the performances are demonstrated by experiments in the HiL structure.