Designing a brushed DC motor controller : Laying the framework for a lab experiment involving position control with current feedback

Sammanfattning: In order to provide the means to set up a control theory lab experiment involving position control of a brushed DC motor with current feedback, a pulse-width modulated motor controller was designed. The output voltage is controlled by an analog reference signal and the magnitude of the output current and voltage are measured and output. These inputs and outputs are connected to a DAQ I/O-unit such that the lab experiment can be implemented digitally. In addition, defining equations for the whole system were derived. Comparison between measurements and model showed it possible to use the current as feedback if low-pass filtered and the angular displacement controlled over a small angular interval.