Question

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In this quiz, you will examine the behavior of a simple motor speed con- trol system. Figure 1 shows the block diagram of the entire control loop Without covering the details, the motor is approximated by two equations First, the current through the motor coils (IM) creates a magnetic torque TM. We consider an external load D(s) (i.e., the disturbance) that subtracts from this torque. The difference accelerates the rotational inertia J of the rotor, and the relationship between torque and rotational speed w can be approximated by a(s) = (Tyr(s)-D(s)) Js + R where R is a combination of friction and reverse electromagnetic force that increases with increasing speed.1 D(S) Controller Armature coil Rotor ε(s) ω(s) R(S) T- Js R Current Torque Sensor Figure 1: Block diagram of the motor speed control system The control system is based on a tachometer (sensor) that provides a linearly scaled voltage. To simplify the tasks, we simply assume ks- 1 The controller itself subtracts the sensor output from the setpoint R(s) to provide the control deviation e(s). The motor drive current is then obtained as IM (s) = H (s)-E(s) Note that the motor transfer function bears close similarity to the transfer function of the waterbath. Similar to the waterbath, the output variable, here, w(t) has only one derivative,(t)(t)/J. Therefore, this is a first-order system, and it has only one pole in the Laplace domain.

Question:

Answer 1

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