On the model order reduction of a direct current motor

Abstract

Neglecting the armature inductance, L a , is a common approach for model order reduction for a class of brush DC motors. Some authors, however, make a partial or incomplete interpretation for neglecting L a , leading students to wrong results and misunderstandings. The existing conditions in the literature and in introductory control systems textbooks are either based on the time constant of the mechanical system being greatly larger than that of the electrical system, or L a & 0. These conditions are not supported analytically and no corresponding error analysis of any kind is provided. This paper analyzes and criticizes the eligibility of these conditions and provides an error model that corresponds to the model order reduction associated with neglecting L a , and another that corresponds to neglecting the non-dominant pole. Experimental results are included to illustrate the suitability of the proposed error models and the suitability of employing such models in basic control designs.

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

“…Since the aforementioned parameters are required for control design and manufacturer does not provide them, in this paper such parameters are obtained via the experimental characterization of the DC motor. For such an aim, a firstorder approximation of (10) is considered by assuming that armature inductance may be neglected [120]. That is,…”

Systematic Implementation of Multi-Phase Power Supply (Three to Six) Conversion System

“…In some universities two courses of electric machines are taught at UG level [1,2]. In the courses, single-phase and three-phase transformers theory is taught and is reinforced with the laboratory exercises [3][4][5]. It also includes the basic electromechanical energy conversion process and rotating machines concepts.…”