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Robust Nonlinear Control Of Brushless Dc Motors For Direct-Drive Robotic Applications, N. Hemati, J. S. Thorp, Ming-Chuan Leu
Robust Nonlinear Control Of Brushless Dc Motors For Direct-Drive Robotic Applications, N. Hemati, J. S. Thorp, Ming-Chuan Leu
Mechanical and Aerospace Engineering Faculty Research & Creative Works
The control problem associated with brushless DC motors (BLDCMs) for direct-drive robotic applications is considered. In order to guarantee the high-performance operation of BLDCMs in such applications, the effects of reluctance variations and magnetic saturation are accounted for in the model. Such a BLDCM model constitutes a highly coupled and nonlinear dynamic system. Using the transformation theory of nonlinear systems, a feedback control law, which is shown to compensate for the system nonlinearities, is derived. Conditions under which such a control law is possible are presented. The need for the derivation of explicit commutation strategies is eliminated, resulting in reduction …