Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Vol. 10, No. 1, March 2024, pp. 30-38 ISSN: 2338-3070, DOI: 10.26555/jiteki.v10i1.26591 30 Journal homepage: http://journal.uad.ac.id/index.php/JITEKI Email: jiteki@ee.uad.ac.id Enhancing Speed Estimation in DC Motors using the Kalman Filter Method: A Comprehensive Analysis Muhammad Haryo Setiawan 1 , Alfian Ma’arif 1 , Chokri Rekik 2 , Ahmed J. Abougarair 3 , Atinkut Molla Mekonnen 4 . 1 Department of Electrical Engineering, Universitas Ahmad Dahlan, Yogyakarta, Indonesia 2 Control and Energy Management Lab (CEM Lab), University of Sfax, Sfax Engineering School, Tunisia 3 Electrical and Electronics Engineering, University of Tripoli, Tripoli, Libya 4 Injibara University, Ethiopia ARTICLE INFO ABSTRACT Article history: Received July 3, 2023 Revised July 16, 2023 Published February 20, 2024 The accurate estimation of speed is crucial for optimizing the performance and efficiency of DC motors, which find extensive applications in various domains. However, the presence of noise ripple, caused by interactions with magnetic or electromagnetic fields, poses challenges to speed estimation accuracy. In this article, we propose the implementation of the Kalman Filter method as a promising solution to address these challenges. The Kalman Filter is a recursive mathematical algorithm that combines measurements from multiple sources to estimate system states with improved accuracy. By employing the Kalman Filter, it becomes possible to estimate the true speed of DC motors while effectively reducing the adverse effects of noise ripple. This research focuses on determining the optimal values for the Kalman Filter parameters and conducting experiments on a DC motor to evaluate the performance of the proposed approach. The experimental results demonstrate that the Kalman Filter significantly improves the control of speed oscillations and enhances the stability of the DC motor system. Furthermore, a comprehensive analysis of the system's response and parameter tuning reveals the impact of different parameter combinations on settling time, overshoot, and rise time. By carefully selecting appropriate parameters, the proposed approach contributes to accurate speed estimation and effective control of DC motors, advancing the understanding and application of the Kalman Filter in various relevant fields. Overall, this research provides valuable insights into enhancing the performance and efficiency of DC motors through the integration of the Kalman Filter method. Keywords: Speed Estimation; Motor DC; Kalman Filter; Arduino Uno This work is licensed under a Creative Commons Attribution-Share Alike 4.0 Corresponding Author: Alfian Ma’arif, Department of Electrical Engineering, Universitas Ahmad Dahlan, Yogyakarta, Daerah Istimewa Yogyakarta 55166, Indonesia. Email: alfianmaarif@ee.uad.ac.id 1. INTRODUCTION Speed is a ubiquitous concept in today's society, commonly associated with various forms of transportation, such as motorcycles, cars, and boats [1], [2]. The propulsion systems of these vehicles often rely on motors, including internal combustion engines fueled by fossil fuels [3], [4] and DC motors driven by electrical energy from batteries. DC motors[5]-[7] have become indispensable in our daily lives due to their wide-ranging applications and numerous benefits. These motors find utility in diverse areas, including household appliances (blenders [8], [9] and fans [10], [11]), personal transportation (electric motorcycle [12], [13], electric cars [4], [14], [15], hoverboards [16]-[18]), public transportation (electric bus[19]-[21], electric train [22]), and even robotics (drones [23]-[26], UAVs [27]-[30]).