Position control for two BLDC motors connected by a sliding mode control with salp swarm algorithm.

Three contributions are presented in this paper. Designing two cascade controllers to control the position of two brushless DC motors (BLDC) working together at the same time is the first contribution. The second is using a sliding mode speed synchronization controller to connect these motors and fine-tune the precise synchronization of their movement on the axes. In the third contribution, the best parameter values for the two cascade controllers and the synchronization controller are extracted using the salp swarm algorithm (SSA) and the objective function Integral Time Absolute Error (ITAE) to produce the most accurate results. the results were compared by using this algorithm with manual tuning. The results of the simulation revealed that the tuning that was done by the salp swarm algorithm (SSA) was superior to the manual tuning in terms of performance and overshoot as well as any deviation in tracking the path to reach the intended position. note that the drop in velocity (0.11 rad/sec) at a time of 15 seconds because of the load causes deviations (0.343 rad for BLDC 1 and 0.3496 rad for BLDC 2) For manual tuning. while the drop in velocity is very small (0.0037 rad/sec) at the same time causes deviations very small (0.003 rad for BLDC 1 and 0.0052 rad for BLDC 2) for second tuning. [ABSTRACT FROM AUTHOR]