DC Motors Modeling Resorting to a Simple Setup and Estimation Procedure

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Goncalves, J (Author) Other; Lima, J (Author) Other; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: Lecture Notes in Electrical Engineering

Pages: 441-447

11th Portuguese Conference on Automatic Control, CONTROLO 2014

Porto, 21 July 2014 through 23 July 2014

Indexing

ISI Web of Knowledge - 3 Citations

Scopus - 5 Citations

Other information

Authenticus ID: P-009-TQ8

DOI: 10.1007/978-3-319-10380-8_42

Abstract (EN): This paper describes a procedure applied to model DC motors. An example of the procedure apply is shown for a 12V brushed DC motor, equipped with a 29:1 metal gearbox and an integrated quadrature encoder. It is described the developed setup applied to obtain the experimental data and the developed algorithm applied to estimate the actuator parameters. It was obtained an electro-mechanical dynamical model that describes the motor, its gear box and the encoder. The motivation to develop a simple and easy to assemble procedure that allows to model DC motors is due to the fact that these actuators are intensively used in mobile robotics, being realistic simulation, based in accurate sensor and actuator models, the key to speed up Robot Software developing time.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7