Lumped Parameter Estimation of a Low Cost DC Motor for Position Controller Design

This paper presents a novel position feedback con-trol architecture with PD controller and dynamic compensation for permanent magnetic direct current (PMDC) motor. Extended Kalman Filter (EKF) is used to estimate two lumped parameters of the motor model which has the form of first order differential equation. The PD controller is designed by using root locus technique. Then position feedback control with compensated dynamic is implemented. The parameter estimation and the controller were simulated and experimented with a low-cost DC motor to verify their effectiveness. The result of simulation shows good convergence of the estimation within 8 seconds. Good experiment result is achieved with peak position error of about 0.037 rad at the steady state. It is concluded that the proposed techniques are effective and powerful for low-cost PMDC motor with unknown parameters.