Closed-loop model identification and control of the DC engine coupled with a reaction wheel

Abstract

This paper presents an approach for closed-loop identification and control of a DC motor coupled with a reaction wheel. For the case of closed-loop identification, the model parameters are obtained using simple analytical expressions based on data extracted from the undamped step response of the closed loop system with P controller, thus enabling model estimation without explicit knowledge of system dynamics. The obtained result of closed-loop identification were compared with experimental data acquired in case of open-loop system, and showed high precision in model estimation. The system was approximated with a second-order inertial transfer function. Proportional-integral-derivative controller was tuned based on the identified transfer function according to the maximum stability degree method. The closed-loop identification method, along with the synthesis algorithms PID controller, was validated through computer simulations in MATLAB. The results demonstrate good accuracy in both model estimation and controller tuning, confirming the effectiveness of the proposed approach.