Education Platform for Periodic Control

Abstract

This paper describes a new educational model suitable for developing and testing periodic and repetitive control. The model consists of a BLDC motor with a connected rotor optionally equipped with one or two permanent magnets, a stator with 10 cells, which can also be optionally equipped with permanent magnets, and a motor control unit. This construction allows the model to generate many load torque variants during one motor revolution. The essential task now is to design a feedback controller that ensures a constant motor rotation speed under the influence of a selected periodic disturbance. The paper further describes the individual steps of the speed controller design by gradually improving the standard PI controller with so-called PR (proportional-resonant) controllers using the design tool PID H-infinity Designer (www.pidlab.com).