Sliding Mode Position Control of BLDC Motor with Nonlinear Load Torque in a Locomotive Simulator Platform

Abstract

The Sliding Mode Control (SMC) is designed to control the position of BLDC motor as an actuator locomotive simulator platform. The nominal plant is a combined part that consist of a linear part and a nonlinear part. The position of BLDC motor when the cabin of the simulator is not attached as a linear part. Meanwhile, estimated load torque when the BLDC motor drives the cabin in pitch motion as a nonlinear part. Sliding mode control (SMC) is adopted to improve position tracking performance due to nonlinear load torque. The simulation results show that the SMC successfully improves the nominal plant that using a standard preinstalled PI controller, such as faster rise time, smaller overshoot, faster settling time and performed well for position tracking at all desired position reference with zero error positions.