Deadbeat Control of a DC Servo Motor at Low Speed

DURSUN M. , Engin S.

4th International Conference on Control, Automation and Robotics (ICCAR), Auckland, Yeni Zelanda, 20 - 23 Nisan 2018, ss.282-286 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1109/iccar.2018.8384685
  • Basıldığı Şehir: Auckland
  • Basıldığı Ülke: Yeni Zelanda
  • Sayfa Sayıları: ss.282-286


In a robot system, it is very important that electrical motor acceleration time, motors run at the desired stability, overshoot and state speed this stability. Especially at low speed of motor control is more difficult because of its nonlinear electromagnetic characteristic. In this study, the parameters of a servo motor were determined, and its dynamic equations were derived. The motor dynamic parameters and speed were determined. It was realized with deadbeat in the PID and MATLAB/Simulink environment, and the performance was compared. It was observed from the obtained results that the rise time of the motor speed controlled by the deadbeat control system was 9% shorter, its initial overflow was 7% smaller and its placement time was 8% shorter. Moreover, the oscillation after the initial overflow did not occur in the PID control method. It was concluded from the obtained results that the deadbeat controlled DC motor could be used in industrial and robotic systems.