The Quanser motor to be used in Lab R6-R8 can be modeled in terms of the output angular velocity ...
The Quanser motor to be used in Lab R6-R8 can be modeled in terms of the output angular velocity of the load ω1(t) and an input motor voltage yn(t): where r24 6.35 mm r72- 19 mm r120 32 mm Ta = 50 mm Tg = 90% m 69% K, = 70 /m = 4.61E-7 kg-m" m24-5g m72-30 g m120 83 g md 40 g kt-7.68E-3 N-m/A km-7.68E-3 V/(rad/s) Rm 2.62 Bm-0015 N-m/(rad/s) B. + η (4 points) Building on Problem 5 and using the parameter values found in the table, calculate nominal values for Jeq, Beq, and Aeq. Then substitute these values into the expressions found in Problem 1 to calculate nominal values of the steady-state gain K and time constant t. Finally, plot the magnitude and phase of the transfer function Go,v from 0.1 Hz to 100 Hz, using logarithmic axes for frequency and the transfer function magnitude.
The Quanser motor to be used in Lab R6-R8 can be modeled in terms of the output angular velocity of the load ω1(t) and an input motor voltage yn(t): where r24 6.35 mm r72- 19 mm r120 32 mm Ta = 50 mm Tg = 90% m 69% K, = 70 /m = 4.61E-7 kg-m" m24-5g m72-30 g m120 83 g md 40 g kt-7.68E-3 N-m/A km-7.68E-3 V/(rad/s) Rm 2.62 Bm-0015 N-m/(rad/s) B. + η (4 points) Building on Problem 5 and using the parameter values found in the table, calculate nominal values for Jeq, Beq, and Aeq. Then substitute these values into the expressions found in Problem 1 to calculate nominal values of the steady-state gain K and time constant t. Finally, plot the magnitude and phase of the transfer function Go,v from 0.1 Hz to 100 Hz, using logarithmic axes for frequency and the transfer function magnitude.