An adaptive nonlinear internal-model control for the speed control of homopolar salient-pole BLDC motor

摘要

In this paper, a novel speed control method for Homopolar Brushless DC (HBLDC) motor based on the adaptive nonlinear internal-model control (ANIMC) is presented. Rotor position information is obtained online by the Hall-Effect sensors placed on the motor's shaft, and is used to calculate the accurate model and accurate inverse model of the HBLDC motor. The online inverse model of the motor is used in the controller structure. To suppress the reference (omega(ref)) error, the negative feedback of difference between the motor speed and its model output (omega(motor) - omega(motor)) is applied in the proposed controller. An appropriate signal is the output of the controller, which drives the power switches to converge the motor speed to the constant desired speed. Simulations and experiments are carried out on a 1.5kW three-phase HBLDC motor. The proposed drive system operates well in the speed response and has good robustness with respect to the disturbances. To validate the theoretical analysis, several experimental results are discussed in this paper.