At the 2018 Dynamic Systems and Controls (DSCC) Conference, I published a paper detailing the methods for validating various DC Motor models.  The full paper can be accessed from the ASME Digital Collection.

Abstract

DC motors are popular for many engineering applications such as robotics, aerospace, home automation, and many others. As such, they are also popular systems for undergraduate examples and instructional laboratories in engineering. Many of these examples use a standard first-order model of a DC Motor using first principles modeling to derive the parameters. However, not much emphasis is placed on how well these models match the actual data. In this paper, six DC motor models, including three frequently found in textbook examples, will be compared to recorded data from actual DC motors in order to develop a model that represents the actual physical behavior of a DC motor. The models that were developed from the data rather than first principles matched the data more closely for the angular velocity output of the motor. Finally, the best models will be used to simulate a closed-loop position control of the motor and match the performance to recorded data.

Citation

Reck, Rebecca M. "Validating DC Motor Models on the Quanser Qube Servo." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems. Atlanta, Georgia, USA. September 30–October 3, 2018. V002T16A005. ASME. DOI: 10.1115/DSCC2018-9158