Didactic platform for DC motor speed and position control in Z-plane

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Pallejà Cabrè, TomàsPallejà Cabrè, Tomàs - ORCID ID
Saiz Vela, AlbertSaiz Vela, Albert - ORCID ID
Tresánchez Ribes, MarcelTresánchez Ribes, Marcel - ORCID ID
Moreno Blanc, Javier
Ribó Pablo, Josep
Clarià Sancho, FranciscoClarià Sancho, Francisco - ORCID ID
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cc-by-nc-nd (c) Pallejà et al., 2021
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This paper describes how to implement a low-cost didactic platform designed to teach or reinforce discrete control theory concepts. The controllers used in this work (P, PI, PD, and PID) are suitable for undergraduate students but the same platform could be used to explain and test advanced controllers to graduate students. This document shows, step by step, how to control a DC motor speed and position, along with the most common problems and its solutions, commonly overlooked in the literature. It also explains how to simulate the system behavior and compares the simulations with the real data, showing an average correlation coefficient of =0.983.
Journal or Serie
ISA Transactions, 2021, vol. 118, p. 116-132