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Prototype of a DC motor modeled as a Servo actuator
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README.md
motor.py
servo_simulator.pdf
servo_simulator.py

README.md

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
  • servo_simulator.py - Contains the PID controller and simulates the servo joint motion.
  • motor.py - 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="https://www.youtube.com/embed/6f2kRp-R3vs" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>

Usage

Command to Run in Terminal:

python3 servo_simulator.py [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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