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A New Axial Gap Bearingless Motor Drive System with Nonlinear Robust Control

In this paper, a robust control with nonlinear disturbance observers for a permanent magnet type axial gap bearingless motor (AGBM) is designed. The proposed control strategy uses a robust backstepping controller with integral tracking errors action integrated low-pass filters into each virtual control input. Integral backstepping control (IBSP) is added integrator to improve the system’s robustness against parameter uncertainties and external disturbances. In addition, the filter of dynamic surface control (DSC) based on integral backstepping algorithm is adopted, from which the proposed control strategy that improving steady state accuracy and eliminating the derivative explosion phenomenon. In addition, the controller needs to reduce the effect of disturbances that include load force, load torque, parameter uncertainties, and unmodeled dynamic acting the control system, thus nonlinear lumped disturbance observers (NLDO) are performed for axial displacement and angular speed control to improve the stability of the control system. Finally, the evaluation by simulation illustrates that the proposed approach obtained the effectiveness, feasibility, and robustness. Compared between the proposed approaches are expressed by root mean square deviation of axial displacement and speed error.