An Implementation of the MST-SMC BLDC for Virtual Haptic

This paper presents the design, implementation, and experimentation of a virtual haptic system, allowing the user to feel physical forces from the operating area. The system includes a BLDC motor control side and an operating area side. Each BLDC motor is equipped with a control board containing a three-phase inverter, microcontroller, magnetic encoder, and CAN transceiver. Experimental results demonstrated that both motor systems could rotate precisely in synchronization, with a maximum error of 0.3 rad. The virtual torque reflection on the control side differed by 13.3% compared to the torque on the operating area side.