Nonlinear Feedback Control ofaBearingless Brushless DCMotor

- . .. ~~~~~~~~~~~~~A further mechanical simplification canbeachieved byemfreedom actively. Owingtothenonlinearity oftheplant, theuseoflinearploying concentrated instead ofdistributed coils [6]. Thereby control design methods alone isnotsuitable forachieving a thesimplest motordesign, whichfulfills abearingless operahigh operation performance. This paper introduces anewradialtion, features four concentrated coils inthestator andhasa position andmotortorque control algorithm basedonthe four pole permanent magnet rotor-disk [7]. However, this drive theory offeedback linearization forabearingless brushless DC . . t motor. Thereby, thecombined model oftranslatory androtatoryconfiguration leads tosingle-phase motorcharacteristics with dynamics canbesplit into independent linear systems bymeans arelatively high cogging torque. Toovercome these problems, ofanonlinear change ofsystem coordinates andastatic stateabearingless motorwith five concentrated coils andatwopole feedback.