On the Real Time Implementation of a Controller for an Electromechanical System

This paper deals with the experimental control of the rotor position of a DC Motor. A real time Linux-based software is used for implementing this closed loop system. A setup for measuring the rotor position is implemented. This design consists of several hardware/software components. A discrete- time state observer is employed for calculating the transient and steady state values of the state vari- ables. A load torque dynamic model is proposed in order to improve the closed loop performance. Sev- eral tests are carried out to identify the parameters of the augmented dynamic model that includes the load torque state equation. A custom-made Pulse Width Modulation-based Mosfet H-Bridge converter is im- plemented as a power interface.