Question

8 bbe KA PC Useful Equations Voltage generation via ro DC Output Torque Va Ky R Parameters R-4 N-m-sec ba -0.05 N-m-sec kx 0.5 N/m Kv 0.7 volt-soc L,-0.1 Henry Rotor polar moment of inertia Rotor damping coefficient Rotor spring constant Rotor e.m.f constant KE 0.1 volt-sec JC-0.2 N-m-see Kt-0.5 N-m/amp boc 0.05 N-m-soc BpC 0.03 N-m-sec koc 0.5 Nm Armature resistance Back e.m.f constant DC motor polar moment of inertia DC motor torque constant DC motor damping coefficient Viscous friction damping coefficient DC motor spring constant Control Signal: Tt) Torque of the diesel motor Tnott) Torque of the DC motor T4 torque disturbance acting on the DC motor There are many ways to solve each one of the suggested problems. Each one of the projects will consist of the following major steps: 1. Dynamic modeling (showing full steps of finding governing equations) 2. Development of transfer functions and block diagram (development of transfer function relating input to output for the open loop system) 3. Development of block diagram showing the dynamics of the closed loop system and the controller 4. Selection of controller structure. All groups will first implement a Proportional control law. If the group is not satisfied with the P-control, the group may move to an alternative structure. 5. Selection of control parameterís) 6. Characterization of performance of closed-loop system 7. System type, Root locus for a proportional controller, Bode phase plots and discussions, transient characteristics. 8. Conclusion on the system and controller characteristics/performance

Answer 1

REDUCED ORDER MODEL Define motor time constants Where: τm-mechanical time constant いelectrical time constant. Electrical time constant is much smaller than mechanical time constant. Usually neglected. Reduced transfer function becomes... Where K, -KK +R. B
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