FLATNESS BASED CONTROL OF A BUCK-CONVERTER DRIVEN DC MOTOR

The aim of this contribution is to give a detailed account on the circuit and control design of a buck converter driven DC motor. The steps of design, as for example the choice of the coil, the switching devices employed are discussed at length, all in view of the control objective: tracking control of the DC motor's shaft angular velocity. The dynamic system composed from converter/motor is shown to be differentially flat viewed from the angular velocity, which is a flat output. It is thus possible to derive a flatness-based tracking controller which achieves favorable properties like a smooth starting trajectory for the angular velocity.