Js. Ko et al., ROBUST DIGITAL POSITION CONTROL OF BRUSHLESS DC MOTOR WITH ADAPTIVE LOAD TORQUE OBSERVER, IEE proceedings. Part B. Electric power applications, 141(2), 1994, pp. 63-70
A new control method for the robust position control of a brushless DC
(BLDC) motor using the adaptive load torque observer is presented. It
is shown that the augmented state variable feedback can be applied to
the BLDC motor system approximately linearised using the field-orient
ation method. To overcome the problem of an unknown parameter or a par
ameter variation such as a flux linkage, an adaptive mechanism is empl
oyed. As a result, the robustness can be obtained without affecting th
e overall system response. The load disturbance is detected by the ada
ptive 0-observer of an unknown and inaccessible input, and is compensa
ted by feedforwarding the equivalent current having the fast response.