ROBUST SPEED CONTROL OF BRUSHLESS DC MOTOR USING ADAPTIVE INPUT-OUTPUT LINEARIZATION TECHNIQUE

A robust speed control scheme for a brushless DC (BLDC) motor using an adaptive input-output linearisation technique is presented. By using this technique, the nonlinear motor model can be linearised in Brunovs ki canonical form, and the desired speed dynamics can be obtained base d on the linearised model. This control technique, however, gives an u ndesirable output performance under the mismatch of the system paramet ers and load conditions caused by the incomplete linearisation. For th e robust output response, the disturbance torque and flux linkage will be estimated by a model reference adaptive technique. The adaptation laws are derived by the Popov's hyperstability theory and positivity c oncept. The proposed scheme is implemented on a BLDC motor using the s oftware of DSP TMS320C30 and the effectiveness is verified through the comparative simulations and experiments.