DC모터 엔코더 수학적 모델링

Mathematical Modelling of DC Motor Encoder

It is easier to obtain the transfer function of the relation between the voltage and the angular velocity than between the voltage and the angular displacement in DC motor. I analogi z e the closed loop transfer function of the relation between the reference signal and the angular displacement out of the voltage-angular velocity transfer function using the encoder mathematical modelling, 1/(TsS). To assure the validity of the encoder mathematical modelling, I make a DC motor feedback control system set-up using micro-controller ATmega88 and real DC motor IG32GM. In the set-up I ac q uire the data to track the target position. As a result, the time index in time domain such as rise time, delay time in mathematical modelling is similar to the time index in set-up system. The error between two systems is in less than 10 % . Therefore this encoder mathematical modelling in continuous domain is useful to apply the real DC motor feedback system in digital domain using micro-controller.