Disturbance observer based current controller for a brushed DC motor

Abstract

Current control is essential for torque control. But available current controllers don't provide the required facilities for torque control. Often they produce a sluggish response. In this paper we propose an embedded system based current controlling method using the disturbance observer. Dynamic model of the DC motor is analyzed electrically and mechanically. Then the proposed method is analyzed by introducing the concept of disturbance observer. Real Time Operating System (RTOS) is used in the experiment. Results show the response current variation with and without the disturbance observer. Validity of the proposed method is verified by the results.