Abstract
Brushless DC (BLDC) servomotors have become a popular choice when implementing high–precision position controllers for mechatronic systems. A motor of this kind requires a drive that can be configured in different operation modes, according to the internal controllers it utilizes. This paper first describes the main features and the complete electromechanical model of a BLDC motor/drive system, including some procedures for the identification of its parameters. Three common schemes for implementing position control using this kind of actuators are also presented, and the equivalence among them is employed to determine the drive's internal control gains. Finally, experimental results in a typical BLDC servoactuator allow us to show the significance of the estimated parameters in real position control tasks.
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