Law of Motors Law of Generator ( ) Torque of rotor Gears

Voltage from rotor Amplifier Equation Fluid Flow

Heat flow ( )( )

Electrical Bits

Resistors in series add Capacitors in parallel add Inductors is series add Combining impedances Inductor: sL Capacitor: 1/(sC) Resistor: R ztot = z1+z2 1/ztot=(1/z1)+(1/z2) for parallel

System Similarities

Incorporate rotor friction b*

State space form Put everything into matrix, solve for chosen variable. Ie. Mx(t)+bx(t)+kx(t)=Gu(t) x1 = x(t), x2(t)=x(t) x2(t)=x(t)=Gu(t)/m-bx(t)/m-kx(t)/m x2(t)=Gu(t)-(b/m)x2(t)-(k/m)x1(t) x=[x1; x2] u=[u] x=[x1; x2] x = [0 1; -k/m b/m]x + [0; G/m]u x = Ax+Bu

Laplace transform of an integral ( ) Becomes ( ) ( ) ()

Mother of All Transforms

Laplace transforms of Dirac: dirac(t) becomes 1 Unit step: u(t) becomes 1/s 2 Ramp: tu(t) becomes 1/s

Error/System Type Characteristic eqn: ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) Step input (1/s) Type 0: Type 1: 0 Type 2: 0 2 Ramp (1/s ) Type 0: Type 1: 1/Kv Type 2: 0 Parabola Type 0: Type 1: Type 2: 1/Ka Open Loop Tf

( )

( (

)( )(

) )

N = system type

Time Domain nd (2 order)Equation in form Overdamped Underdamped First Order ( ) Step input: ( ) Ts =4.6/ Tr = 2.2/ Mp=0
( )

Frequency Domain ( ) ( ) ( ) Magnitude M = | ( =( Phase )(

)| )
( ( ( ( )) ))

Motor Ex

Substitute for

, then for Tm, then for Im. Then solve.