Robust Control of a Three-Phase Synchronous In-wheel Motor

Abstract

This paper discusses a robust torque and speed control strategy for an In-wheel Brushless DC Synchronous Machine (IWBLDC). In addition, we introduce a novel processing pipeline to increase the precision of angle measurement from a reduced set of square-wave Hall sensors. The disturbances in the electrical subsystem, including the trapezoidal back-electromotive force, are estimated with a disturbance observer. We add a correction term to ensure the rejection of variations of parameters and cancel coupling effects between the stator axis. The algorithm is executed on the digital signal processor TMS320f28379d and validated on a test bench equipped with a 500W nominal power IWBLDC.