A Microprocessor-Based Position Control of a D.C. Drive Taking into Account the Load's Variations

This paper presents the position control of a D.C motor. This motor is fed by a four-quadrant chopper. The control is entirely digital and assumed by a microprocessor. This motor is one of a robotic manipulator joints actuator. A model of the drive taking into account the mechanical structure variations of the load is presented. This model leads to use an affine state algorithm which is implemented on the microprocessor.