Study on state-space averaging method for theodolite PWM servo control system

The state-space averaging method is presented for the design of PWM (pulse width modulation)-controlled DC motor used in the electro-optical theodolite servo system, especially, using the bipolar DC servomotor with the full bridge main circuit, the transfer functions between the output angular velocity /spl omega/ and the duty ratio of PWM d and the input voltage Vs are proposed, the small signal model of PWM DC servomotor is also analyzed. Based on the model, the simulation and actual experimental results are verified. Moreover, the capability and effectiveness of the ideas used in other controlled mode motor are also significant.