Identification and Real Time Speed Control of a Series DC Motor

The identification and real time speed control, without reverse motion, for a series DC motor is presented. The identification is performed using the transient response analysis of the mechanical and electrical subsystems of a series DC motor. A linearized model which does not include the magnetic saturation around the operating conditions is considered. Based on this model, a PI speed controller is designed. A well-known problem arising in this type of electrical motors is the singularity at zero speed. It is shown that, in spite of this inconvenience, the PI controller, together with an antiwindup scheme, presents adequate regulation and tracking performance. It is also shown that the control system can compensate for varying loads and the counter-electromotive force with acceptable levels of current consumption