IC6501 CONTROL SYSTEM FORMULA SHEET

Linearisation
f ( x) f ( x0 ) +

df
dx

( x x0 )
x = x0

DC Motor
Vb = K b

d m
, Tm = K t I a
dt

m (s)

Transfer function

Torque-speed Curve
Tstall =

Ea ( s )

Kt
ea
Ra

K t /( Ra J m )

1
K K
Dm + t b
s s +
Ra
Jm

(if La << Ra )

Ra
Tm (t ) + K b m (t ) = ea (t )
Kt
e
no load = a
Kb

Gear

2 r1 N1 T1
= =
=
1 r2 N 2 T2

Gear transformation:

N destination

N source

First-order System
1
2 .2
Tr =
a
a
where a is the systems pole.

Ts =

4
a

Second-order Systems
G (s) =

Tr =
Tp =

n2
s 2 + 2 n s + n2

1 .8

n 1 2

%OS = e

2
1

100%

Ts =