A Design and Experiment of Speed Controller with PI-Plus Bang-Bang Action for a DC Servomotor with Transistorized PWM Drives

A speed controller with proportional-integral (PI)-plus bang-bang action is proposed for dc servomotors with transistorized pulse width modulated (PWM) drives. The controller employs the PI-action when the magnitude of the error between the reference signal and the speed output signal is smaller than some precribed value. Otherwise, the controller produces the maximum allowable control signal with the integrator reset. Specifically, a mathematical analysis of the motor system with the proposed speed controller is presented and a rule of thumb for parameter design is provided.