Real-time DC motor error detection and control compensation using linear checksums

The correct operation of transducers such as electric motors, is becoming increasingly important in autonomous systems that depend on the reliability of the underlying electronics to deliver Quality of Service to the end customer. In this paper, a methodology for detecting errors in DC motor operation and adapting its control parameters to compensate for the same using continuous linear checksums, is developed. The approach is different from prior application of checksum codes to analog circuits and servomotor systems, in that none of the states of the DC motor are directly controllable. Accordingly, from measurements of the observable states of the system, the control law for the motor is modified almost instantaneously, to recover motor performance in the most optimal manner possible in the presence of parametric deviations due to wear and tear. We focus on wear out susceptible electromechanical anomalies such as loss of torque due to increased ballbearing friction, etc. Simulation results supported by a hardware prototype support the viability of the proposed error detection and compensation methodology.