A Nonlinear magnetic stabilization control design for an externally manipulated DC motor: an academic low-cost experimental platform
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The main objective of this paper is to present a position control design to a DC-motor, where the set-point is externally supplied. The controller is conceived by using vibrational control theory and implemented by just processing the time derivative of a Hall-effect sensor signal. Vibrational control is robust against model uncertainties. Hence, for control design, a simple mathematical model of a DC-Motor is invoked. Then, this controller is realized by utilizing analog electronics via operational amplifiers. In the experimental set-up, one extreme of a flexible beam attached to the motor shaft, and with a permanent magnet fixed on the other end, is constructed. Therefore, the control action consists of externally manipulating the flexible beam rotational position by driving a moveable Hall-effect sensor that is located facing the magnet. The experimental platform results in a low-priced device and is useful for teaching control and electronic topics. Experimental results are evidenced to support the main paper contribution
CitationAcho, L. A Nonlinear magnetic stabilization control design for an externally manipulated DC motor: an academic low-cost experimental platform. "Machines", Maig 2021, vol. 9, núm. 5, p. 101-1-101-18.