Modelling and position control of brushed DC motor

Abstract

DC motor is commonly used actuator in Industry and robotics applications. Different control techniques are used for position control of brushed DC motor. Because of the simplicity and reliability of Proportional-Integral-Derivative (PID) controller, it is most popular controller used in industry. In present paper, controller is designed using PID algorithm which is a conventional approach and second is Linear Quadratic Regulator (LQR) which uses state space approach. The main advantage of LQR provides a systematic way of computing the state feedback control gain matrix. LQR design minimizes a weighted squared state error and control effort. In this paper, we have compared the performance of both the controller in presence of disturbance. This is implemented on Quanser QNET 2.0 DC motor board for NI Elvis II and controllers are designed using Labview.