An Embedded Digital Twin for DC Servo Motor Systems

ABSTRACT

This paper presents a digital twin of a digitally controlled direct‐current (DC) servo motor. The digital twin is equipped with a position encoder and a current sensor, enabling real‐time synchronisation with the physical system through continuous updates of the shaft angular position and armature current. The proposed twin employs a physics‐based model that accurately captures the motor's electrical and mechanical dynamics. Implemented on an embedded platform, it provides a lightweight, computationally efficient solution suitable for real‐time applications. The model is fully parameterised, allowing it to emulate the behaviour of different DC motors, provided that their physical characteristics are known. This flexibility makes the proposed approach well suited to embedded industrial systems, rapid prototyping, and system‐level testing.