Robust Linear Quadratic Sliding-Mode Control for BLDC Motor Positioning System

Abstract

The brushless dc motor position tracking system to be controlled includes a friction and a backlash as disturbances. In this paper, we propose a robust linear quadratic sliding-mode controller for precision positioning in a brushless dc motor system. The control algorithm includes a linear quadratic control for an optimal feedback gain and an integral nonlinear sliding-surface based on a new reaching law to remove the reaching phase. It has robust performance against parameter variation which causes an oscillation in case of linear quadratic control. Simulation results show that the proposed controller gives an improved accurate driving tracking result and is robust to plant parameter variation and load torque disturbances.

Implementation of speed control of sensorless brushless DC motor drive using H-infinity controller with optimized weight filters

“…A study has been carried out comparing continuous with fractional order sliding mode controller and experimentally proved that fractional order sliding mode controller shows good trajectory tracking [3]. A linear quadratic sliding mode controller for effective position tracking of BLDC motor exhibits a better performance with friction as well as backlash [4]. The detection of load disturbance has been carried out using an linear-quadratic (LQ) controller with a load observer [5].…”

Shaft Torque Limiting Control Using Shaft Torque Compensator for Two-Inertia Elastic System With Backlash

“…In the whole control process, the values of controller parameters will remain unchanged. "Weak action" mainly includes three kinds of control strategies: linear feedback control [9][10][11], robust control [12][13][14] and adaptive control [15][16]. Through comparing, "weak action" has more practical applications and behaves better motion performance in backlash control than "strong action" does.…”