CONTROL OF A LINEAR PERMANENT-MAGNET BRUSHLESS DC MOTOR VIA EXACT LINEARIZATION METHODS

This paper presents a nonlinear feeback control design methodology for a linear motion, permanent magnet brushless dc motor. A nonlinear state variable model for the motor, including the cogging force, is derived. Computer simulations of the resulting closed-loop system are given to demonstrate the effectiveness of the proposed control laws. Finally, simulation results of the control variables are injected into the actual nonlinear system in an experimental open-loop setup to validate the design procedure. Although here the control objective is a brushless dc servo motor with linear action, the methdology developed is equally applicable to rotary permanent magnet brushless dc motors.