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DC Motor Transfer Function
DC Motor Transfer Function
Construction
① DL Motor -
→
armature → winding / coil
→ stator → external / dont rotate
→
magnet "
%
\
electromagnet
permit
)
current
changing
( pq.gg
magnetic
.
Control of DC Motor
Speed
a
¥ *
u¥fIm¥
aµ
① armatmewn
② Fiddanhd_ f)
voltages
eiedomoot
① Permanent Magnet six
:
Armature
Mathematical Modeling of an
amhNhdDcmoT
←
+4 t¥¥wqT &
innit
electric domain
Im
utters back If -
#a
o¥.
①
② Mechanical domain
←
d¥ w
.
angular poqt i m
Torquato
haf b w. b r the shaft
of
way inertia
T= the of the
mmt of
F- polar
by
y
rot
② ③
UH
=
①
re KCL
7 ⑨ -
/HIo①tv④a-baekIf
:&
↳ drop against current resistor
±
:÷i:÷:÷i÷w .
R -
-
i=
-
u th t Rit
Ldj tub
+
= 0
back emf
BakEMj ,
Uba w f, 15 )
)
( bhglatebadina-d.mn
motor Constant
↳ = Kyw7 Kb= Km
↳ the theft
angular velocity of
.
Vb= Km
dog w=%
]
- u CH t Rit
L¥gtVb = 0
tkmohft-ochanicalf.de
- htt t Rit
guiding
-
Im
Torque is
analogous
To
fatty tumsldim
e-
Im = Ti t Tb
-
%) -6 inertial
Isolation damping toque
+
1mg
✓ tape
.
annalise
Im = motor
torque ⇒ proportional to
current
to
.
and i
kmiyfn.mlon.tl
am =
8=9
"
Ii = JO = Ja
{ Is angular acceleration
inertia
Mar moment of
bw
bit
.
% =
=
big -
③
Im = T.it Is
1km I =
"
JO +
bit
left :
Iffley )
Fl "
)
.
SF19
I ffixlf .
1ft = Fires)
Mechanical fide
.fi
Electrical side
im
:*:S :::÷±:% .
~
"
55015) t bs %)
U4K 2CS ) ( Rt Lift skmocs)
Its)= - -
②
Km
Its )= Us ) ( Js 't bs )
→
- ① I
Putting the value of Us) from egg ① into
egn②
) 5km 00 )
U1D =
( Rt LS) ( Js't bs t
km
✓ (5) xkm =
fl ) )Rtl ( Jst b) t
Kmt
motor constant
015) km →
=
⇒
-