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Identification and control of DC motors

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hdl:2117/98735

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Ramasubramanian, Darshan
Tutor / directorPuig Cayuela, VicençMés informacióMés informacióMés informació
Document typeMaster thesis
Date2016-09-05
Rights accessOpen Access
Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain
Abstract
This work has two main objectives: the first one is identify the model of DC motors - using various techniques from experimental data; Secondly, we want to design appropriate control structures for this system, so as to meet the specifications requested. The second chapter describes the equipment with which we work throughout the project, consisting of two rotary brushed DC motors provided by the company Ingenia Motion Control. The third chapter describes various techniques of system identification that are used to characterize the motor dynamics, and applied to the motors provided by the company Ingenia Motion Control. And the final chapter covers the design of controllers plants based on the specification in bandwidth, and provides detailed structures of PID control and I-PD control. This master thesis has been developed in the Institut de Robòtica i Informàtica Industrial (IRI) and in the company Ingenia Motion Control in the Firmware Division with the supervision of Vicenç Puig as director and Roger Juanpere and Rob Verhaart as advisers from the company.
SubjectsElectric motors, Direct current, Motors elèctrics de corrent continu
URIhttp://hdl.handle.net/2117/98735
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