Optimal Control of the DC Motors with Feedforward Compensation of the Load Torque

The goal of the electrical drives is to control the mechanical load in accordance with the process requirements. The mechanical load is characterized by load torque and moment of inertia. Considering that the moment of inertia is reduced to the rotor of the electrical machine, optimal control of the DC motor with feedforward load torque compensation is proposed in this paper. In order to find the feedback component of the electrical drive system (EDS), Algebraic Riccati Equation (ARE) is solved. By adding a load torque dependent component to the DC armature voltage control, the mechanical load action is compensated. The compensator will lead to an increased voltage control such that the influence of the load torque will be eliminated. The numerical results of the EDS are shown. The method can be applied to electrical vehicles in order to compensate in real time the large variations of the load torque.