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Prototype of a DC motor modeled as a Servo actuator
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Servo Simulator

A prototype for position-controlled servo-mechanism implemented on different types of DC motor models using a PID controller

  • servo_simulator.pdf - Documentation for the prototype
  • - Contains the PID controller and simulates the servo joint motion.
  • - Motor models for separately excited DC motor and armature controlled DC motor

Please read the documentation for detailed analysis and discussion

<iframe width="560" height="315" src="" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>


Command to Run in Terminal:

python3 [target angular position] -t [type of motor] -s [initial angular position]

  • target angular position : float value between 0 - 90 degrees - Compulsory Input
  • type of motor : String value - Optional Input

Separately Excited Motor Model : 'sep' Armature Controlled Motor Model : 'armc' (Default)

  • initial angular position : float value between 0- 90 degrees - Optional Input


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