Im doing a school project that involves control of a BLDC motor, and I'm trying to identify a transfer function for it. The only problem is the motor dynamics are terribly non-linear, and I can't figure out why.
Im using a 12V motor driven by an H-bridge which is controlled by an arduino.
I attached a few step response plots where the behaviour is clearly visible, whenever the motor brakes or slows down any amount, the speed changes linearly, but when it passes through 0, it behaves normally again (the speed changes exponentially). Any idea what's going on here? Is this how the motor is supposed to act, or am I doing something wrong?
Im using a 12V motor driven by an H-bridge which is controlled by an arduino.
I attached a few step response plots where the behaviour is clearly visible, whenever the motor brakes or slows down any amount, the speed changes linearly, but when it passes through 0, it behaves normally again (the speed changes exponentially). Any idea what's going on here? Is this how the motor is supposed to act, or am I doing something wrong?
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