NDLI: Experimental characterization and quadratic programming-based control of brushless-motors

Content Provider	IEEE Xplore Digital Library
Author	Aghili, F. Buehler, M. Hollerbach, J.M.
Copyright Year	1993
Abstract	A new torque control strategy for brushless motors is presented, which results in minimum torque ripple and copper losses. The motor model assumes linear magnetics, but contains a current limit which can delimit the onset of magnetic saturation, or be the motor amplifier current limit, whichever is reached first. The control problem is formulated and solved as a quadratic programming problem with equality and inequality constraints to find the nonlinear mapping from desired torque and position to the motor's phase currents. The optimal solution is found in closed form using the Kuhn-Tucker theorem. The solution shows that, unlike the conventional commutation with a fixed current-position waveform, the waveforms of the proposed controller vary in order to respect the current limitation in one phase by boosting the current in the other phases. This increases the maximum torque capability of the motor - in our particular system by 20% - compared to fixed waveform commutation. Experimental data from our brushless direct-drive motor demonstrates that the controller produces virtually ripple-free torque and enhances remarkably the tracking accuracy of the motion controller.
Sponsorship	IEEE Control Systems Society
Starting Page	139
Ending Page	146
Page Count	8
File Size	515308
File Format	PDF
ISSN	10636536
Volume Number	11
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque control Synchronous motors Copper Brushless motors Commutation Velocity control Nonlinear control systems Space technology Brushless DC motors Magnetics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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