Published

2025-07-30

Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi

Control por rechazo activo de perturbaciones de un motor DC con escobillas utilizando Simulink y Raspberry Pi

DOI:

https://doi.org/10.15446/ing.investig.114438

Keywords:

ADRC, MATLAB, coreless brushed DC motor, automatic control, Raspberry Pi (en)
ADRC, MATLAB, motor DC con escobillas sin núcleo, control automático, Raspberry Pi (es)

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Active disturbance rejection control (ADRC) is a robust methodology that does not require precise knowledge of the plant. Developed in China by Professor Jingqing Han, it is based on PID control, state observers, and nonlinear functions. Brushed DC motors are known for their low cost and the noise they introduce into control circuits. This paper demonstrates that ADRC can effectively control low-power brushed DC motors using a general nonlinear model and Simulink for tuning. The model is simulated using parameters provided by the manufacturer. An ADRC developed and programmed by the authors in MATLAB is then integrated into the simulation. The controller is tuned, and its performance is verified. Subsequently, the ADRC is implemented on a Raspberry Pi 3 using MATLAB’s support packages and methods developed by the authors. The controller is tested on a Faulhaber 2342L012CR DC motor (12 V/17 W). The results show that it is possible to control the position of the low-power brushed DC motor through simulation-based tuning. The interaction between Simulink and Raspberry Pi 3 enables an optimal control characterized by a fast response, a minimal steady-state error, and no perceptible overshoot. This implementation demonstrates that ADRC is a practical and efficient control method for brushed DC motors.

El control activo de rechazo de perturbaciones (ADRC) es un método robusto que no requiere un conocimiento preciso de la planta. Desarrollado en China por el profesor Jingqing Han, se basa en control PID, observadores de estado y funciones no lineales. Los motores DC con escobillas son conocidos por su bajo costo y el ruido que introducen en los circuitos de control. Este artículo demuestra que ADRC puede controlar eficazmente motores de DC de baja potencia con escobillas utilizando un modelo general no lineal y Simulink para su sintonización. Este modelo se simula utilizando parámetros proporcionados por el fabricante. Luego, se integra a la simulación un ADRC desarrollado y programado por los autores en MATLAB. Se sintoniza el controlador y se verifica su rendimiento. Posteriormente, el ADRC es implementado en una Raspberry Pi 3 utilizando los paquetes de apoyo de MATLAB y métodos desarrollados por los autores. El controlador es puesto a prueba en un motor de DC Faulhaber 2342L012CR (12 V/17 W). Los resultados muestran que es posible controlar la posición del motor de DC con escobillas de baja potencia mediante una sintonización basada en simulación. La interacción entre Simulink y Raspberry Pi 3 permite un sistema de control óptimo caracterizado por una respuesta rápida, un error mínimo en estado estacionario y ningún sobrepico perceptible. Esta implementación demuestra que el ADRC es un método de control práctico y eficiente para motores de DC con escobillas.

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How to Cite

APA

González N., M. E., Sierra H., O. H. & Higuera M., O. I. (2025). Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi. Ingeniería e Investigación, 45(1), e114438. https://doi.org/10.15446/ing.investig.114438

ACM

[1]
González N., M.E., Sierra H., O.H. and Higuera M., O.I. 2025. Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi. Ingeniería e Investigación. 45, 1 (Mar. 2025), e114438. DOI:https://doi.org/10.15446/ing.investig.114438.

ACS

(1)
González N., M. E.; Sierra H., O. H.; Higuera M., O. I. Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi. Ing. Inv. 2025, 45, e114438.

ABNT

GONZÁLEZ N., M. E.; SIERRA H., O. H.; HIGUERA M., O. I. Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi. Ingeniería e Investigación, [S. l.], v. 45, n. 1, p. e114438, 2025. DOI: 10.15446/ing.investig.114438. Disponível em: https://revistas.unal.edu.co/index.php/ingeinv/article/view/114438. Acesso em: 25 dec. 2025.

Chicago

González N., Mario E., Oscar H. Sierra H., and Oscar I. Higuera M. 2025. “Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi”. Ingeniería E Investigación 45 (1):e114438. https://doi.org/10.15446/ing.investig.114438.

Harvard

González N., M. E., Sierra H., O. H. and Higuera M., O. I. (2025) “Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi”, Ingeniería e Investigación, 45(1), p. e114438. doi: 10.15446/ing.investig.114438.

IEEE

[1]
M. E. González N., O. H. Sierra H., and O. I. Higuera M., “Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi”, Ing. Inv., vol. 45, no. 1, p. e114438, Mar. 2025.

MLA

González N., M. E., O. H. Sierra H., and O. I. Higuera M. “Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi”. Ingeniería e Investigación, vol. 45, no. 1, Mar. 2025, p. e114438, doi:10.15446/ing.investig.114438.

Turabian

González N., Mario E., Oscar H. Sierra H., and Oscar I. Higuera M. “Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi”. Ingeniería e Investigación 45, no. 1 (March 31, 2025): e114438. Accessed December 25, 2025. https://revistas.unal.edu.co/index.php/ingeinv/article/view/114438.

Vancouver

1.
González N. ME, Sierra H. OH, Higuera M. OI. Active Disturbance Rejection Control of a DC Brushed Motor Using Simulink and Raspberry Pi. Ing. Inv. [Internet]. 2025 Mar. 31 [cited 2025 Dec. 25];45(1):e114438. Available from: https://revistas.unal.edu.co/index.php/ingeinv/article/view/114438

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Copyright (c) 2025 Mario E. González N., Oscar H. Sierra H., Oscar I. Higuera M.

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