Position Control of External Rotor Permanent Magnet Synchronous Motor

Permanent Magnet Synchronous Motors (PMSM) are frequently preferred in industrial, automotive, robotic, and military applications. External Rotor (ER) PMSMs, a type of PMSM, can provide high output torque at low volume. Although potentially usable in robotic and military applications as an actuator, they are often used in drones due to the cogging torques involved in the output torques. This cogging torque complicates the control of ER-PMSMs. This study examines the operation of ER-PMSMs in an actuator that controls the position. ER-PMSM is driven by Field Oriented Control (FOC). Traditional PID and Model Predictive Control (MPC) are chosen as the position control algorithm. The advantages of these controllers are explained in detail.