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.