Experimental Modelling of DC Motor for Position Control Systems Involving Nonlinear Phenomena
Nonlinear phenomena in the dynamic behavior of DC motors are commonly disregarded in speed regulation systems because it has a constant operation point or a reduced range of variation. Therefore, in the majority of applications, a second order linear mode
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[email protected] 2 Facultad de Ciencias Naturales y Matemáticas, Universidad de Ibagué, Carrera 22 Calle 67,
Ibagué 730002, Colombia
Abstract. Nonlinear phenomena in the dynamic behavior of DC motors are commonly disregarded in speed regulation systems because it has a constant operation point or a reduced range of variation. Therefore, in the majority of applications, a second order linear model is enough to design the required controllers. However, in angle positioning systems involving DC-motor based actuators, deviation of linear models becomes unacceptable because the impact of non-linearities accentuates. This paper presents a method for experimental modelling of DC motor bidirectional dynamic following three main steps: i) obtaining input-output measurements from multiple experiments using chirp signals as input stimulus; ii) to produce a family of Hammerstein-Wiener type models using software tools for parametric system identification, and iii) to synthesize a unique model from superposition analysis of both the nonlinear gains and the root loci of the linear part. Validity of the obtained model is demonstrated using simulation results showing its potential application in engineering practice. Keywords: Position control systems · DC motor · Experimental modeling · Hammerstein-Wiener model · Nonlinear modeling · Dead-zone nonlinearity
1 Introduction Angular positioning systems can be implemented by employing pneumatic, hydraulic and electromechanical actuators depending not only on the required torque, speed and precision but also on the available energy source. Autonomous and portable applications are limited to the use of electrical energy provided by batteries then focusing actuator alternatives to DC motors [1]. The selection of the adequate motor technology depends not only on physical limitations such as size and weight but also on precision, cost and maintenance requirement. Among the well-known DC motor types, stepper motors offers high precision and easy use as main advantages but requires the use of specialized drives and filters to smooth the negative effect of its pulsating current in the lifetime of the batteries. This last aspect has in turn a negative effect in the size, weight and cost of the © Springer Nature Switzerland AG 2020 J. C. Figueroa-García et al. (Eds.): WEA 2020, CCIS 1274, pp. 516–528, 2020. https://doi.org/10.1007/978-3-030-61834-6_44
Experimental Modelling of DC Motor for Position Control Systems
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entire device [2]. Then, permanent magnet DC motors represent the lower cost solution for many applications because of its high availability in the market in several models and the high level of standardization of the needed accessories [3, 4]. The dynamics of DC motors are commonly modelled by means of a second-order linear transfer function involving mechanical and electrical time constants representing the motor dynamics and gains representing the drive and sensor behavior. However, this model is highly dependent on the operation point and then models involving non
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