Electronic control design for a DC motor based on the 1-bit analog-to-digital converter structure

A 1-bit Analog-to-Digital converter (also called a Delta-Sigma modulator) is a widely used system that converts a continuous signal into a digital one. The Delta-Sigma modulator is essentially a stable, closed-loop system built around a first-order plant. This fact is demonstrated here using Lyapunov theory, along with some remarks on its robustness. Since the Delta-Sigma system architecture is a stable closed-loop system, it is a straightforward tool for controlling first-order dynamical systems, like a DC motor. Based on previous findings, a new electronic system was designed to specially manipulate the shaft speed of a dual-shaft worm-gear DC motor. To enhance the performance of our electronic design, we also used a low-cost microcontroller. Additionally, our electronic system does not utilize Analog-to-Digital (ADC) or Digital-to-Analog (DAC) converters. This is because the 1-bit analog-to-digital conversion is accomplished by a comparator signal within the closed-loop system. To support our approach, experimental results are shown.