An adaptive tracking controller for a brushless DC motor with reduced overparameterization effects

Using the integrator backstepping approach, the authors develop a full state feedback, adaptive position tracking controller for a brushless DC (BLDC) motor turning a robotic load. The proposed controller ensures global asymptotic tracking for the rotor position and velocity despite the parametric uncertainties throughout the entire electromechanical system. The overparameterization problem commonly associated with backstepping-type controllers is greatly reduced. Experimental results are used to validate the performance of the controller.<<ETX>>

[1]  Philip T. Krein,et al.  New controller-observer design for induction motor control , 1992 .

[2]  Zhihua Qu,et al.  Adaptive Tracking Control of a Switched Reluctance Motor Turning an Inertial Load , 1992 .

[3]  John Chiasson,et al.  Nonlinear speed observer for the PM stepper motor , 1993, IEEE Trans. Autom. Control..

[4]  N. Hemati.  Dynamic analysis of brushless motors based on compact representations of the equations of motion , 1993, Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting.

[5]  W. Gong,et al.  Pade approximation for stochastic discrete event systems , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[6]  P.V. Kokotovic,et al.  The joy of feedback: nonlinear and adaptive , 1992, IEEE Control Systems.

[7]  Darren M. Dawson,et al.  An adaptive integrator backstepping tracking controller for brushless DC motor/robotic load , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[8]  N. Matsui,et al.  Brushless DC motor control without position and speed sensors , 1990, Conference Record of the 1990 IEEE Industry Applications Society Annual Meeting.

[9]  Brad Paden,et al.  Adaptive linearization of hybrid step motors: stability analysis , 1993 .

[10]  Jian-Qiang Hu,et al.  The Light Traffic Derivatives in the GI/G/1 Queue , 1991, 1991 American Control Conference.

[11]  J. J. Carroll,et al.  Semiglobal position tracking control of brushless DC motors using output feedback , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[12]  Alain Glumineau,et al.  Robust control of a brushless servo motor via sliding mode techniques , 1993 .

[13]  Mehrdad Ehsani,et al.  Four-quadrant sensorless brushless ECM drive , 1991, [Proceedings] APEC '91: Sixth Annual Applied Power Electronics Conference and Exhibition.

[14]  Ward Whitt,et al.  Measurements and approximations to describe the offered traffic and predict the average workload in a single-server queue , 1989, Proc. IEEE.

[15]  J. Hu,et al.  Robust Tracking Control of an Induction Motor , 1993, 1993 American Control Conference.

[16]  Donald R. Smith,et al.  An Asymptotic Analysis of a Queueing System with Markov-Modulated Arrivals , 1986, Oper. Res..

[17]  M. Zazanis.  Analyticity of Poisson-driven stochastic systems , 1992, Advances in Applied Probability.

[18]  John N. Chiasson,et al.  High-performance nonlinear feedback control of a permanent magnet stepper motor , 1993, IEEE Trans. Control. Syst. Technol..

[19]  N. Hemati,et al.  The global and local dynamics of direct-drive brushless DC motors , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[20]  Timothy J. E. Miller,et al.  Brushless Permanent-Magnet and Reluctance Motor Drives , 1989 .

[21]  R. Marino,et al.  Adaptive input-output linearizing control of induction motors , 1993, IEEE Trans. Autom. Control..

[22]  Jian-Qiang Hu,et al.  Analyticity of single-server queues in light traffic , 1995, Queueing Syst. Theory Appl..

[23]  John Chiasson,et al.  Dynamic feedback linearization of the induction motor , 1993, IEEE Trans. Autom. Control..

[24]  Shigeru Okuma,et al.  A position-and-velocity sensorless control for brushless DC motors using an adaptive sliding mode observer , 1992, IEEE Trans. Ind. Electron..

[25]  David G. Taylor,et al.  Adaptive control design for a class of doubly-salient motors , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[26]  Jianqiang Hu,et al.  The MacLaurin series for the GI/G/1 queue , 1992, Journal of Applied Probability.

[27]  N. Hemati,et al.  Robust nonlinear control of brushless DC motors for direct-drive robotic applications , 1990 .

[28]  Romeo Ortega,et al.  Nonlinear control of induction motors: torque tracking with unknown load disturbance , 1993, IEEE Trans. Autom. Control..

[29]  Tomasz Rolski,et al.  Light Traffic Approximations in Queues , 1991, Math. Oper. Res..

[30]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[31]  Carlos Canudas de Wit,et al.  Robot motion control using induction motor drives , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[32]  I. Kanellakopoulos,et al.  Systematic Design of Adaptive Controllers for Feedback Linearizable Systems , 1991, 1991 American Control Conference.

[33]  Martin I. Reiman,et al.  An Interpolation Approximation for Queueing Systems with Poisson Input , 1988, Oper. Res..

[34]  David Y. Burman,et al.  A Light-Traffic Theorem for Multi-Server Queues , 1983, Math. Oper. Res..

[35]  Martin I. Reiman,et al.  Open Queueing Systems in Light Traffic , 1989, Math. Oper. Res..

[36]  H. Harry Asada,et al.  Direct-Drive Robots: Theory and Practice , 1987 .

[37]  Paul C. Krause,et al.  Analysis of electric machinery , 1987 .