Model Identification and Position Control of Quanser Qube Servo DC Motor

Servo DC motor has wide variety of application in control and automation industry. Position control plays a major role in areas of robotics. QUANSER QUBE Servo DC motor is a system developed by national instruments for analyzing speed and position control. The system comprises of DC motor, optical encoder, and myRIO with QUANSER Rapid Control Prototype (QRCP) module. LabVIEW with QRCP is required for interfacing system with hardware. The process variable to be controlled in the system is the position of servo DC motor and the manipulated variable for the same is motor input voltage. The work deals with implementation of controllers like PD controller, sliding mode controller (SMC), and linear quadratic regulator (LQR) controller for position control. The results are compared and it is found that SMC had provided better control on the process variable.