Torque Control of a DC Motor With a State Space Estimator and Kalman Filter for Vehicle Traction

The control techniques for traction of electric vehicles and mobile robotics has been extensively studied. This paper presents a comparative study over torque control of a DC motor against classical speed controllers, for use on traction of mobile vehicles. Also it presents an approach to estimate the parameters of a generic motor and the equations for discrete model state space of a DC motor. It is also described in this paper the hardware used for implementation of the system. As part of the controlled feedback the electromagnetic torque generated by the motor is not read by a torque sensor, but estimated by a Kalman filter estimator, given the speed read by a Hall effect sensor system connected to the shaft of the motor. The system is all simulated on a hardware-in-the-loop system, where the parameters can be adjusted simultaneously to a running system.