Competence Amelioration of PMBLDC Motor using LQR- PID, Kalman Filter- PID and LQG Based on Kalman Filter-PID optimal Controllers for disturbance attenuation

Abstract

In this paper, modeling, simulation and performance analysis of the permanent magnet brushless direct current (PMBLDC) motor using classical controller (PID Controller) and optimal controllers ( Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) optimal Controllers Based on Kalman Filter) for disturbance attenuation and noise suppression is presented. The applications of the permanent magnet brushless direct current (PMBLDC) motor are increasing day by day. In order to have proper utilization of these motors and to control them effectively it is important to have proper mathematical modeling of these motors. Similarly effective control these motors are also essential to have successful application of the devices across multiple domains. This paper handles both these important aspects. A mathematical model has been derived to represent permanent magnet brushless direct current (PMBLDC) motor model to study the stability and performance. In order to maintain the stability and to achieve the best performance by reducing disturbance attenuation and noise suppression, the three optimal controllers are developed in this paper. the system performance simulation of these optimal controllers with PID controller is presented using MATLAB program to control the modeled permanent magnet brushless direct current (PMBLDC) motor for disturbance attenuation and noise suppression.. The simulation results show that and Linear Quadratic Gaussian (LQG) Based on Kalman Filter with PID controller  provides best as compared to PID controller, Linear Quadratic Regulator (LQR) with PID controller and Kalman Filter with PID controller.