Question

2 Comsider a DC motor, ts ampifier, losed loposition contrller and ld which is connected to the motor via a gear reducer. Consider an analog controller of type PI, e(s)0(s)-0(s) ¡(s)-K-11(s) the amplifier model: the DC motor model: Tm(s)K i(s) Ka = 1.0, Kt-1.0, c = 10.0, Let the parameters of the components be as follows: Find the closed loop system transfer function between the commanded position signal, load torque, and actual position signal. Select the gains of the PI controller Kp and Ki so that the step response setting time is about 100 ms with overshoot of about no more than 5%, and that the steady state error in response to a step

Answer 1

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