Torque ripple attenuation for brushless DC motors via adaptive variable structure control

Torque ripple compensation for brushless DC motors is considered in this paper. The control design methodology is based on our earlier work on adaptive variable structure control. A current level controller is derived for the motor that achieves asymptotic tracking of a reference trajectory while yielding robustness to parametric and dynamic uncertainties in the motor dynamics. The controller requires the use of only one adaptation parameter. Furthermore, the control input is smooth and thereby alleviates the chattering problem common to variable structure schemes. Simulation results show the efficacy of the proposed control design.