| Brushless DC motor(BLDCM) not only overcomes the shortcomings that the traditional DC motor would produce commutation spark, but also retains the DC motor’s advantage of high-efficiency and good performance of speed. With the simple structure, reliable operation and easy maintenance, Brushless DC motor is widely used in many industrial production and daily life.Because BLDCM is a nonlinear, strong-coupling and time-varying system, the traditional control strategy can not meet the requirement of the higher precision. Passivity-Based Control is a control method that designing a passive control law makes the system converge to the expected value by looking for energy storage function which is related to controlled variable from energy of the system. It can realize the global stability of the system. This paper introduces the design of BLDCM speed controller base on the passivity-Based Control. The main contents are shown as follows.Firstly, the background about this research is presented and the overseas research status on BLDCM is given.Secondly, the basic structure of BLDCM is introduced and its mathematical model is established. The commutation ripple of is analyzed under different PWM modulation when motor is operating at six states.Thirdly, some basic concepts about passivity are introduced, which includes passivity, dissipation and stability. Port-controlled-dissipative Hamiltonian system which is derived from Euler-Lagrange equation is discussed. Then speed controller is designed under the Port-controlled-dissipative Hamiltonian system based on state error. For the load torque disturbance is unknown at the actual run-time, the load torque disturbance observer is designed.Finally, the hardware circuit design and software design of the BLDC controller are introduced. The simulation of the BLDCM speed control system is built in Matlab/Simulink software. And experimental testing is made. The results show that the controller has a good performance and a strong robustness. |
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