DC motor position control with ESP32 and design based on lead compensation
Keywords:Control system design, Linear time-invariant system, ESP32, Lead compensator, DC motor
This paper presents the design of a dynamic controller for the direct current electric motor (DC motor) implemented in an ESP32 microcontroller. The DC motor angular position mathematical model is described by a second order transfer function, whose parameters are the open-loop gain and the time constant. The design methodology of the dynamic controller is based on lead compensation by redefinition of the root locus in reference to the placement of a dominant pair of complex conjugate closed-loop poles related to the transient performance specification, considering maximum overshoot, peak time or settling time. A program in OCTAVE was developed for the design of lead compensation dynamic controllers for the DC motor, according to the geometric methodology based on the root locus. The performance analysis is based on the results obtained by computer simulation compared to those obtained by experimental implementation with an ESP32 microcontroller.