BG-Supported Synthesis of Speed- and Position-Tracking Controllers for Brushless DC-Motor Drives

摘要

This paper addresses the problem of synthesizing speed- and position-tracking controllers on a Bond Graph model of the brushless dc-motor. Feedback-linearization and backstepping-like controllers are obtained with the help of energy-and-power-shaping as well as inverse-model based methods executed on the Bond Graph domain with the techniques of bicausality and virtual prototyping. A single-link rigid manipulator is assumed as load when solving the position-tracking task, and a piecewise constant unknown load torque for the speed-tracking controller. Simulation runs showing the performance of the controllers are presented.