Passivity Based Control of Nonlinear DC Motors Configurations and Sensorless Applications

In this paper, an unified framework for the control of all different DC motor configurations is presented. The control structure is based on the passivity property of electrical machines. Thus, separately- excited, parallel and series configurations can be studied following the same control philosophy, and without any simplification. These configurations present different nonlinear dynamics in each armature-field connection, and different number of control voltages. Moreover, each control law can be naturally adapted to work under a sensorless configuration, but assuming that the load torque is measurable. Nevertheless, an observer can be designed using the state information, or just electrical measurements to estimate on-line this variable. simulation and experimental evaluations are presented to corroborate the control derivations.