Abstract
State space systems and experimental system identification are essential components of control education. Early introduction of these tools to the curriculum of a control laboratory in an interconnected and accessible manner that does not over-dilute the concepts is important in two ways. First, it facilitates a student's transition to more senior and graduate level control concepts. It also provides an effective link to industrial applications. This paper provides two novel experimental procedures for directly identifying the state space model of a DC motor in an undergraduate control laboratory. The procedures do not require any specialized hardware and can be performed using standard laboratory equipment. They also do not place any simplifying assumptions on the motor's model. The first procedure is based on direct pseudo inversion of the state space model. It does not require advanced knowledge of the state space approach or signal filtering. It is easy to understand and suits a first control laboratory. The second procedure is more efficient. It is based on the Markov approach commonly used for realizing, indirectly, a state space model from an estimated transfer function. While the procedure is designed for use by undergraduate students, it requires relatively advanced knowledge in state space that makes it suitable for a second undergraduate control laboratory.
Highlights
The importance of electrical motors to both academia and industry [1] is obvious
The justification is that the electrical time constant of the motor is negligible compared to its mechanical time constant
We propose two novel, lab-friendly procedures at the undergraduate level for the direct identification of the state space model of a DC motor
Summary
The importance of electrical motors to both academia and industry [1] is obvious. DC motors are usually adopted as the servo-process of choice in control laboratories. A common practice in a 1st control laboratory is to model the motor using its step response assuming a first order approximate velocity transfer function. It requires the student to have a reasonable exposure to relatively advanced tools in the state space approach making it suitable for a second control laboratory. This procedure is novel and was not presented in [19]. The same procedure and dataset for both methods may be used to compute a secondorder or a third-order position transfer function While both procedures are thoroughly tested, only the 1st procedure, the pseudo inverse-based method, is integrated in the control laboratory syllabus at the EE-department/KFUPM as an experiment. It was successfully completed in one laboratory session, 2 hours and 45 minutes
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