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Position control of linear permanent magnet BLDC servo using Iterative Learning Control

Abstract:

Linear brushless direct current servo motors (LBLDCM) are widely used for high performance position control applications. Conventional Proportional-Integral-Derivative (PID) position controller provides satisfactory performance for set-point position regulation. However with the presence of non-linearities and uncertainties in the drive system, linear PID controller is not sufficient to provide satisfactory time-varying trajectory position tracking control. In order to improve the tracking performance for periodic time-varying trajectory, we propose a hybrid control scheme consisting of a linear conventional PID position controller together with a plug-in Iterative Learning Control (ILC). The proposed controller is implemented on a general-purpose DSP DS1104 controller board from dSPACE to drive a 300mm stroke length, DX20-C4 LBLDCM. Experimental results obtained demonstrate the unproved tracking performance of the proposed hybrid controller. © 2004 IEEE.