System and method for speed-torque control of brushed dc motors

The method of claim 2, further including determining the feedforward gain term to cause the brushed DC motor satisfy a given bandwidth.

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• 4.
• The method of claim 3, wherein the feedforward gain term is determined in accordance with:
• where is the feedforward gain term, is an integral gain term, is a proportional gain term, and is the given bandwidth.
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A motor control system, comprising:

• a brushed direct current (DC) motor having a set of brushes;
• a voltage regulator configured to apply a DC voltage to the brushed DC motor based on a voltage command;
• and
• a controller configured to:
• determine a speed difference signal based on a difference between a speed command signal and a motor speed of the brushed DC motor;
• determine a torque command signal based on the speed difference signal;
• and
• determine the voltage command based on the torque command signal,
• wherein determining the torque command signal based on the speed difference signal includes at least one of:
• determining a modified proportional torque component including a feedforward gain term times the speed command signal, and wherein the torque command signal includes the modified proportional torque component;
• and
• determining a modified derivative torque component including a time derivative of the motor speed of the brushed DC motor, and wherein the torque command signal includes the modified derivative torque component.

The motor control system of claim 12, wherein the controller is further configured to determine the feedforward gain term to cause the brushed DC motor satisfy a given bandwidth.

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• 14.
• The motor control system of claim 13, wherein the controller is further configured to determine the feedforward gain term in accordance with:
• where is the feedforward gain term, is an integral gain term, is a proportional gain term, and is the given bandwidth.
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A method of operating a brushed direct current (DC) motor for adjusting a column position of a steering system in a vehicle, comprising:

• determining a speed difference signal based on a difference between a speed command signal and a motor speed of the brushed DC motor;
• determining a torque command signal based on the speed difference signal;
• determining a voltage command based on the torque command signal;
• and
• applying a DC voltage to the brushed DC motor based on the voltage command,
• wherein determining the torque command signal based on the speed difference signal further includes at least one of:
• determining a modified proportional torque component including a feedforward gain term times the speed command signal, and wherein the torque command signal includes the modified proportional torque component;
• determining a modified derivative torque component including a time derivative of the motor speed of the brushed DC motor, and wherein the torque command signal includes the modified derivative torque component;
• and
• determining a position-dependent torque component based on a position of the brushed DC motor, and wherein the torque command signal includes the position-dependent torque component.