Abstract
A nonlinear discrete model of a brushless direct current (BLDC) motor in a rotating coordinate system with vector control was developed. The synthesis of optimal control in the state space was performed using the Riccati equation. For practical problems of BLDC motor control, the maximum values of voltages and currents are found while maintaining the identifiability of the BLDC motor model. The study of the range of admissible values of the voltage vector in the state space for the obtained nonlinear discrete model of the BLDC motor is carried out.
Highlights
There are known criteria of controllability, observability and identifiability, which are considered in the classical works [1,2,3,4,5,6,7,8,9]
A nonlinear discrete model of a brushless direct current (BLDC) motor is developed with optimal control, taking into account the restrictions on the maximum values of current and voltage
The BLDC motor model is needed to identify the drive in real time for various desired angular displacements, speeds and accelerations in the state space under vector control and to calculate the maximum values of electric current and voltage under dynamic operating conditions
Summary
There are known criteria of controllability, observability and identifiability, which are considered in the classical works [1,2,3,4,5,6,7,8,9]. On the control of robot drives, articles and monographs have been published [10,11,12,13,14,15], in which frequency and vector control based on continuous and discrete drive models are considered. A nonlinear discrete model of a BLDC motor is developed with optimal control, taking into account the restrictions on the maximum values of current and voltage. When developing the BLDC motor simulation program, a linear-quadratic controller was used, one of the types of optimal controllers that uses a quadratic quality functional. When synthesizing control systems that are optimal according to the quadratic quality criterion, the matrix algebraic Riccati equation is solved
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