BLDC motor identification based on optimal control model in the state space

Abstract

A control model for a BLDC motor in a rotating coordinate system in the state space under vector control has been developed. The problem of identifiability of this model is solved for different values of the load moment. It is proposed to use identification in terms of the correspondence of the mathematical model to the results of the operation of the object. At each step, the determinant of the extended matrix is calculated, which is compared with a constant that numerically divides the space of the state matrices. Thus, the operation of the drives itself makes it possible to determine its identifiability. As a criterion for the optimality of the identification algorithm, a decision-making optimality criterion is chosen in combination with an identifiability criterion for an optimal control algorithm by the criterion of minimum quadratic form. The vector-matrix model of drives in the state space is presented taking into account the relative accuracy of measuring the state of the information-measuring subsystem of drives. It is proposed for practical problems to determine the identifiability criterion by modeling the state matrix for cases when the state matrix parameters exit the space of realizable parameters of serviceable drives. The research results obtained can be used to build diagnostic systems for robot drives.