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Constrained Control for Brushless DC Motors With Fractional Friction Compensation

[+] Author Affiliations
Yanan Qiu, Zhiyong Dai, Xiaogeng Liang

Northwestern Polytechnical University, Shaanxi, China

YangQuan Chen

University of California, Merced, CA

Paper No. DETC2015-47508, pp. V009T07A046; 10 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME


In this paper, based on the Asymmetric Barrier Lyapunov Function (ABLF), we firstly develop a backstepping Dynamic Surface Control (DSC) scheme for position constraint control of Brushless DC Motors with a new fractional torque observer technique for friction compensation. The fractional compensator is used to estimate the unknown friction torque and guarantees its convergence with zero steady error. The DSC is introduced to eliminate the repeated differentiations involved in ABLF synthesis and to decrease the negative effects from produced disturbance noise in Brushless DC Motors. Finally, we demonstrate that the proposed control scheme could guarantee output constraints within limit ranges and also ensure prescribed tracking error within a neighborhood of 0. A fractional horsepower dynamometer was developed as a Hardware-In-the-Loop platform to emulate the position tracking of Brushless DC motors and Coulomb friction as a mechanical nonlinearity. Comparison experiment studies illustrate that the proposed controller has a favorable performance bounded within constraints and achieves fast convergence. Furthermore, the new method has a better ability of noise rejection.

Copyright © 2015 by ASME
Topics: Friction , Motors



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