Question

Problem For many applications such as a servo actuator and vehicle, DC motors are very popular There are different manufacturer out there. You are going to develop a model to help understand the impact of the parameters Given A schematic of DC motor and parameters. DC Motor L kpemw (t) w,T w(t) e(t) J kpemf W(t) e(t) Pot Tech i(t) Inertia voltage at the motor terminal i(t) motor winding current kbemf back emf constant k torque constant motor RPM e(t) T torque L inductor R = resistor J load inertia Figure 1. Schematic of a DC motor Tasks: Determine a set of equations that govern the dynamics of a DC motor Assumptions: Make appropriate assumptions

Answer 1

Anuoen Given DC Motoy Kbemf t) A ect bemf pot tech inantia uhera ect) vo Hag at the mota torminal. from the iven RIGH) L. dit dt kbemf w k back emf constant where apply Japlace rantfom for this equatiom than R 1CS LSI( kbemf seCs) - Ls] Kbemf S@cs) E(s) R+ ECS)- Kbemf secs) R+ LS whara back emf Constant Kbenf Resista R L induct Considon oque equalion Kbenf do dt Kbemf k ) dt dt TIS) TS) Kt Subsfflut JSes) e(s) Kbemf sas) R+LS

e CR+LS K4ECS) kt Kbemf S (als) e R+L S 'bemf CR+LS KC S Os) REECS) etsS CR+LS) SX Kbemf K Ct) ES) sTSCR+LS) Kbemf Kt