Angular speed control of brushed DC motor using nonlinear method: Design and experiment

The major concentration of this study is on developing a novel control system with response and tracking accuracy features capable of precise angular speed regulation of brushed DC motor. Towards this objective, speed loop controller of brushed DC motor based on Triple-step nonlinear method has been designed. The Triple-step nonlinear method consists of the steady-state control, the reference variation-based feed-forward control, the error feedback control. The designed nonlinear controller has the advantage of concision and specific signification. The controller can greatly enhance the transient response performance of brushed DC motor. When a brushed DC motor running at low angular speed, the system appears the speed fluctuation and dead-zone characteristic. Therefore, the friction model of motor is considered in the design of controller. Current dynamic is neglected due to the fast electric response, the commonly used feedforward controller and PI feedback controller is designed. The effectiveness of the control method compared with conventional PID controllers is verified through experiments.