Designing a PID Control Scheme for Direct Current Motors without Using Electrical Sensors
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This paper delves into the development of an innovative PID controller for direct current (DC) motors, designed to function independently from mechanical sensors such as encoders. The study emphasizes the importance of confronting this challenge and the pressing need for a viable solution. The proposed method capitalizes on the armature current to estimate the motor's electrical torque, providing a multitude of benefits in tackling this problem. By harnessing this information, a sophisticated control strategy based on pole placement is implemented, enabling precise motor control without reliance on mechanical sensors. The PID control law works in synergy with state feedback to govern the control system's actions, ensuring optimized motor performance and efficiency. To validate the effectiveness of the proposed scheme, a rigorous evaluation process is conducted, encompassing both simulation and real-world testing on a prototype integrated with an ESP32 microcontroller. The findings reveal that the motor's speed demonstrates asymptotically stable behavior in response to fluctuations in load torque and reference speed values, corroborating the efficacy of the proposed solution. Furthermore, the elimination of mechanical sensors simplifies the system's design and minimizes potential failure points, consequently bolstering overall reliability.
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