Problem
For the next lab we experiment working with DC motors. In the previous lab we worked with stepper motors, which operate by supplying power to one of serval magnets surrounding the rotor. The difference provided by the electromagnet causes the rotor to spin in a very precise increments. The DC motor works in similar fashion except with the magnet is permanent (armature) and while the commutator provide a field difference. Due to the rather simple construction of the DC motor we can construct a model for the DC motor using an equivalent circuit consisting of a resistor, inductor, and dynamo. By the end of the lab we will demonstrate the accuracy of our DC motor model via Simulink.
Procedure
To begin designing a control for this system, we must determine the current, I,
and , and model 𝑑𝜃/𝑑𝑡 the integrals of the rotational acceleration and of the
rate of change of the armature current.