The Transactions of the Korean Institute of Power Electronics (전력전자학회논문지)

The Korean Institute of Power Electronics (전력전자학회)
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Controller Design of BLDC Motor Fin Position Servo System by Employing H-infinity Loop Shaping Method

H-infinity Loop Shaping 방법을 이용한 BLDC 전동기 핀 위치제어시스템 제어기 설계

  • Zhu, He-Lin (Dept. of Electrical Eng., Konkuk University) ;
  • Mok, Hyung-Soo (Dept. of Electrical Eng., Konkuk University) ;
  • Lee, Hyeong-Geun (Servo Motor Research Center, LC-TEK Co., Ltd.) ;
  • Han, Soo-Hee (Dept. of Creative IT Eng., Pohang University of Science & Technology) ;
  • Seo, Hyeon-Uk (Dept. of AI Machinery, Korea institute of machinery & materials)
  • Received : 2018.11.09
  • Accepted : 2018.12.19
  • Published : 2019.02.20
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Abstract

This study proposes a robust control of a fin position servo system using the H-infinity loop-shaping method. The fin position control system has a proportional (P) position controller and a proportional-integral (PI) controller. In this work, the position control loop requires a wide bandwidth. No current control loop exists due to the compact design of the system. Hence, the controller parameters are difficult to determine using the traditional cascade design method. The $H_{\infty}$ controller design method is used to design the controller's gain to achieve good performance and robustness. First, the transfer function of the system, which can be divided into tunable and fixed parts, is derived. The tunable part includes the position P controller and speed PI controller. The fixed part includes the rest of the system. Second, the optimized controller parameters are calculated using Matlab $H_{\infty}$ controller design program. Finally, the system with optimized controller is tested by simulation and experiment. The control performance is satisfactory, and the $H_{\infty}$ controller design method is proven to be valid.

Keywords

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Fig. 1. Exitaction state of a BLDC motor: (a) A, B phase are excited, (b) A, C phase are excited.

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Fig. 2. Equivalent circuit of a BLDC.

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Fig. 4. H∞control optimization configuration: (a) General control configuration, (b) Stability robustness.

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Fig. 3. Block diagram of fin position servo system.

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Fig. 5. Targeted loop shape of position control.

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Fig. 6. Targeted and actual loop shape of position control.

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Fig. 7. Closed loop of position control system.

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Fig. 9. Simulation of position control response - 65Hz sinusoidal reference input.

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TABLE III POSITION CONTROL PERFORMANCE COMPARISON BETWEEN TRANSFER FUNCTION AND SIMULATION BY SINUSOIDAL INPUT AT 65HZ

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Fig. 11. 0~15 degree position step response and its input current, PWM output, by designed controller(Experiment).

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Fig. 8. Simulation of fin position servo system.

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Fig. 12. 0~15 degree position step response and its input current, PWM output, by tunded controller(Experiment).

TABLE I PARAMETER OF THE FIN POSITION SERVO SYSTEM

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TABLE II CALCULATED CONTROLLER PARAMETER

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Fig. 10. 0~15 degree position step response and its input current, PWM output(Simulation).

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TABLE IV 0~15 DEGREE STEP RESPONSE COMPARISON BETWEEN SIMULATION AND EXPERIMENT

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TABLE V 0~15 DEGREE STEP RESPONSE COMPARISON BETWEEN DESIGNED CONTROLLER AND TUNED CONTROLLER

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