Abstract
In this paper, position control using both a nonlinear position controller and a current controller with an augmented observer is proposed for a Brushless DC motor. The nonlinear position controller is designed to improve the position tracking performance based on the tracking error dynamics. The current controller is developed to track the desired currents generated from the desired torque, which is calculated based on the nonlinear position controller. The augmented observer is designed to obtain the knowledge of both state variables and disturbance. Closed-loop stability is proven through the Lyapunov theorem. Simulations were performed to evaluate the effectiveness of the proposed method.
Highlights
Over the past few years, brushless DC motors (BLDCMs) have been widely employed in various industrial fields such as computer peripheral devices, and electric vehicles [1,2].BLDCMs offer many advantages, such as high-power densities, high-power factors, high efficiencies, increased reliability, high torques, small sizes, less noise, less maintenance, and simple operation principles
The BLDCM parameters and control gains of the nonlinear position controller and current controller, in addition to the augmented observer gains used in the simulation, are listed in
The desired torque was generated to compensate for the load torque by implementing (15) from the nonlinear position controller
Summary
Over the past few years, brushless DC motors (BLDCMs) have been widely employed in various industrial fields such as computer peripheral devices, and electric vehicles [1,2]. As the load torque disturbance directly affects the position tracking performance, load torque needs to be estimated; it is necessary to design an augmented observer that estimates all the state variables, including the load torque disturbance. In [13], an adaptive observer was designed to estimate the load torque; the position controller was only developed to track desired position in the linearized system. Motivated by the aforementioned concerns, this paper proposes a nonlinear position control method with an augmented observer to enhance the position tracking performance. The proposed method consists of a nonlinear position controller, a commutation scheme, a current controller, and an augmented observer. Based on the error dynamics, a nonlinear position controller is developed to generate the desired torque via a back-stepping procedure. The simulation results to confirm the effectiveness of the proposed controller are presented in Section 5, and Section 6 presents the conclusions
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