System and Control Design for a DC Motor in a Force Feedback Application

摘要

Direct Current (DC) motors are used in many applications which can benefit from a simple control system. The mechanical commutation afforded by the DC motor reduces the complexity ofthe control electronics. New applications such as force feedback are appearing where the motor provides torque to a steering wheel through a gear ratio. The DC motor is attached to a steering wheel in a computer game which simulates the effect of driving a real vehicle. Understanding the dynamics of this control system is key to ensuring stable operation. Additionally, the large signal characteristics cannot be ignored and can be investigated by computer simulation nand prototype verification. This paper will detail the complete control system block diagrams, stability calculations, and small signal compensation of the control system. Measurements are taken to test the assumptions and check the validity of the model.