“…The Direct Current (DC) motor is a traditional electric motor. In comparison to the other electric motor such as brushless DC motors [1][2][3], induction motor [4][5][6], the intrinsic structure of the DC motor [7] has advantages such as the ease of maintenance, the simple control structure, the large electromagnetic torque, and the wide range of speed control. Therefore, DC motors are increasingly widely used in areas that require high-quality control, such as crane, elevator, conveyor, steel rolling, transportation, mining, etc [8], [9][10][11][12][13].…”