BLDC Multi-Motor Speed Synchronization by Leader Following Multi-Agent and Hybrid Control

Abstract

In this article, a unique and innovative design for addressing the speed synchronization problem in a multi-motor system using Brush less DC (BLDC), motors is presented by utilizing motor back emf equation and rotor position commonly called sensor less technique. In the proposed method, the system is modelled as a consensus problem of leader following multi-agent system (MAS), and a hybrid controller is designed by using Model Reference Adaptive Control (MRAC) along with Variable Structure (VS) control technique of Sliding Mode Control (SMC), herein called Variable Structure Model Reference Adaptive Control (VS-MRAC). The consensus algorithm of MAS (reformed w.r.t motor speed data), is fused with the hybrid controller to reach consensus on speed regulated by proposed hybrid controller. The stability of a system is endorse by designing a Lyapunov function. The efficiency of the proposed methodology is proven by simulations performed in MATLAB and the acquired results validate the success of proposed design methodology.