Nonlinear control of a series DC motor: theory and experiment
Mehta, S.
Chiasson, J.
Pittsburgh Univ., PA;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 1998
Volume: 45,
Issue: 1
On page(s): 134-141
ISSN: 0278-0046
References Cited: 18
CODEN: ITIED6
INSPEC Accession Number: 5830873
Digital Object Identifier: 10.1109/41.661314
Current Version Published: 2002-08-06
Abstract
The control problem for a series DC motor is considered. Based on
a nonlinear mathematical model of a series-connected DC motor, it is
shown that the combination of a nonlinear transformation and state
feedback (feedback linearization) reduces the nonlinear control design
to a linear control design. To demonstrate its effectiveness, an
experimental study of this controller is presented. These experimental
results are also compared with a simulation of the closed-loop system.
Finally, it is shown that a nonlinear observer (with linear error
dynamics) for speed and load torque can be constructed based only on
measurements of the motor current. Experimental results of this speed
and load-torque estimator are also presented
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