Adaptive Torque Control of Disturbed Brushless Direct Current Motor Based on Internal Model Principle

In this paper, we proposed an adaptive control law based on internal model principle for the torque control of uncertain brush-less direct current(BLDC) motor, which is disturbed by unknown external disturbance. The nonlinear dynamic model of BLDC motor with the relationship between the torque and current of it is built. The disturbance in the model is shown in sinusoidal form with unknown phases, amplitudes, and frequencies, while the number of distinct frequencies or the order of the corresponding unknown linear exosystem is known. For the unknown parameter uncertainty in the system model, an adaptation law is designed to compensate it in the control law; With the prior knowledge of the baseline control law of the disturbance-free BLDC motor system and some assumptions on disturbance model, the ultimate controller can completely reject the external disturbance and guarantees the torque of the BLDC motor track its reference signal asymptotically in the presence of parameterized uncertainties. Simulation results verify the effectiveness of the proposed method at last.