Robust control of planar switched reluctance motors

Based on the theory of energy dissipation, a robust passivity-based control (PBC) algorithm is proposed for the planar switched reluctance motor position tracking system passed on the theory of energy dissipation and the principle of switched reluctance motor. Firstly, the PBC for the planar switched reluctance motor at various injecting damp is experimented for the static characteristics and dynamic characteristics. And point out the disadvantage of PBC method. Secondly, the robust passivity-based control is derived from passivity-based control combine with robust control. The proposed algorithm for planar switched reluctance motor overcomes the shortcomings of position error and performance deterioration for general PBC under static friction force and model with sudden load adding. The performance of control and robustness is improved. Simulations and corresponding experimental implementations are carried out on the proposed planar driving system. The results prove that the proposed method is effective.