Field-weakening nonlinear control of a separately excited DC motor

Abstract

This paper investigates the design and implementation of nonlinearcontrol schemes for a separately excited DC motor operating in the field-weakening region. A feedback linearization controller, a Corless-Leitman-type controller, and two nonlinear controllers are designed and implemented for a DC motor system. The stability of the closed-loop system is proved using Lyapunov theory. A hardware testbed is constructed to experimentally verify the designed controllers. The hardware consists of a DC motor system, a DSP controller board, a power module, two current sensors, and atachogenerator. The experimental results indicate that the developed controllers work well.