Position Control of BLDC Motor Using S-Curve for Trajectory Planning and Feedforward Control Design

Abstract

Position control of motor is of crucial importance in applications where precise positioning is required. It not only matters how quickly a certain position is obtained, but also how much the positioning error is reduced and how smoothly the position is achieved. Hence, trajectory planning is applied for controlling the path of the actuator, which is expected to obtain the required precise position. In the work presented herein, a brushless DC motor is used for achieving precise positioning, controlled through trajectory planning, using s-curve algorithm. The current work presents a model based approach for control system design for position control, along with experimental results. It presents the effect on performance parameters observed with s-curve algorithm implementation in comparison with the performance parameters obtained without trajectory planning.