Operating/ Rated Voltage: 24V
No load Speed: 350 rpm
No load Current: 150mA (max)
Max efficiency: 1.4 Kg-cm/300 rpm/ 14.2W/ 0.87A
Max power: 4.5 Kg-cm/180 rpm/28.2W/1.4A
Stall Current: 2.9 A (max)
Stall/ max Torque: 8 Kg-cm
Gear Ratio: 1:34
1496 pulses per revolution of output shaft and 44 pulses per revolution of motor shaft
coil resistance : 30 ohms.
How can I use these data to make a model of the dc motor? How can I use that model to make this motor into a servo motor using microcontroller like the arduino.
What are the topics I need to study.
Things I have done so far -
Read about transfer function of electro mechanical systems and tried to formulate a transfer function. But there are some things I couldn't figure out- like the inductance of the armature and the exact number of gear teeth in the gear, the inertia of the armature and some other stuff as well.
Things I plan to do -
I found out about MATLAB's system identification toolbox and black box modeling, Which doesn't require complete model of the system.
So I plan to use that toolbox to estimate transfer function of the dc motor. In order to collect data I will be using an arduino with pyserial to log voltage and current input to the motor, motor shaft position and time.
Later I intend to use Z transform to convert the inverse of the transfer function into discrete time domain from continuous time domain.
For the next step I am planning to make a controller which will combine a feedforward (Using the inverse transfer function) and a Feedback (PID based) controller together.
Is there any guide/example/tutorials available on this topic?
Am I heading in the right direction? or am I missing something.