Assignment III: P2.11, P2.13, P2.32, P2.37, P2.25, P2.51, DP2.1, DP2.

4
P2.11

The transfer functions are:

Vd ( s ) K1K 2
=
Vc ( s) (Lq s + Rq )(Lc s + Rc )
;

θ ( s) Km
=
Vd ( s ) ( )
Js + f s (( Ld + La )s + Rd + Ra ) + K 3 K m s
2
;

θ ( s) θ ( s) Vd ( s) K1K 2 K m
= × = ;
Vc ( s) Vd ( s) Vc ( s ) s ( Lc s + Rc )( Lq s + Rq )( Js + b)(( Ld + La ) s + Rd + Ra ) + K 3 K m )

Block diagram:

P2.13
P2.32
P2.37
P2.25

P2.51
DP2.1
DP2.4