Lecture 5

TF cf a brush dc mater
V
Iv
V
16236
W
LR
{(t)

î
KEBE
T-² bw = 5 w
J
W(0)=0
FC = 0
V-> w
L dict) + Ri(t) = √(t) -
de
not to rave
T = k₁₂ i (6)
but I = J w
V vs RPM
ms
V(6)
•Oppose motion
-> W (4).
bemf
Back electic motor force! Voemp = k₁w
D - V bem² = R₁ + L di 12)
de
(1)
Screate the motion
(6)
Vhemp = k₁w
7 (3)
TE
b/w
L of will

V and w
for eans
(a) √(s) - Vieux (s) = R [(s) + L s I (s)
=
(6) I = K₂ [(S)
(6) I' - b_√2 (5)
= Js (5)
2
(d) V bemp (s) = 14₁ 52 (5)
eliminate in L domarn
b)
want mess - TF_
V(s)
elimmate I(s), Viemp, (5), "IT', all ==
a) √ 2 (R+Ls)¹ (V - V₂ emp)
d
K = KE ( R +LS)" (V-V bemf)
() "&G (R=# Ls) (V-V bemp) - b2 =.Jo
D √ beruf = k₁ sh
(V-ki√2)kt =(Js+b)__
(R + Ls)
VICE = CR +Ls) (Js tb) + K, KER
VKE = [FR +Ls) (Js+b) + kike] ^
V

KE
(R+Ls) (Jst o) + kikE
& Out
va in
LE
LJs² +(Lb tRJ)st Rb+ kiko
V (veits) imput
Thome [valts] back emf village
R [ohms] resistance of the windings
[ [Amps ] current in windings
L [Henry] inductance of the windings
''T' [WM] forque
Kt [Nm/ Amps] terque constant
b [Nm sec ] viscas foration constant
J [kg m² ] inertra of the mass bemy rotated
ic, [ V/ rad/ged] bemp constant
= [Vsec]
Two ndes:
(1) L ~ Om l
(²) if there is no energy lass ki≈ kt numerically
TF = =+ =
V-2
Jon
Q : V is a 3 unit step input, w(E) = ?
essas

146
R Js + Rb + 16²7²2
V = 5 volts step change
Ú
Ics
r
Kb
RSS + Rb + k²t
-).
ma
KE
S
2
S R 5s + Rb + 14/²/²
2CS) -> poles are real and distmat (case A)
2
S₁ = 0
, 52 = - Rb + ke ²
RJ
-√2 (5)= 81 + √2
82
S
5-S2
Ex
Vin
¡(6)
=
Vm = Vinductance + Vresistance + Veapuciter
Charge
=
= Ld1 + Ri+ / Side
de
"I (S)
Vin
MM
↓
L
Vin (s) = LS I (s) + RICS) + + I(s)
(s)
S

Vat=
Vin
[(₁) (LS+R + (-)
=
Oct
moniter
Vacross C
2
[(s) (CLs² + Rcs + 1)
CS
CS,
CLs² + Rcs ti
J
CLS² +RCS +1
-> vatage
drup Vat
Ex
vim i, a a
↑
Vin =
= Ríí, + à
Vas (5) -
Vm (s)
Vin (s) =
0=
-M
I iz

6 = = √(²2-1₁)'db + A₂ iz + 1 Sizde
S(iz
Ia
(2
+ = {(₁₁-12) √6
1
(RiC, 5+1) * (R₂ C₂³+ 1) + R₁ C₂ S
RI(S) ++ [i (s) + [2 (5)
CI
S
1 [2 (s)- I, (S) + R₂ Iz(s) + 1 fa-Vat
S.
C₂ S
wat = -1 [2 (5) - [₁ (5) - R₂ [₂ (5)
S
-Vert = -1 (5₂ (5) -[i(?) _Riz [2 (3). It
Vin
CI
S
Ri(15)
ol-
S
• F₁(s) + 1₂ (3)
Bx
retu
Vin
Vin Ti
as
ng
I
C
c
C(
#3
J
'I
B
iz
2
R₂
T₂²
Vin (s) = I₁ R₁ +

I
Vat
0 = 7 P ( ²41 - !:)) ²² -14 ²! - w²1
T
Vat
Vinzii R₁ + + SC₁₁-iz)dt
Sci-iz?dz
R
Vin = 1₁ R₁ = = S(₁₁-12) de
un izt - Siz db-Size + + Side 20
on
C₂
0₂1₂ R₂ + 1₂2 Sizde +_1 ((i₂-li) da
iz
62
C₁
CIS
(5₁-52)
C₁ S
0= [₂ R₂ + 1 [₂ (5) + £ (5₂-51)
Iz
C₂ s
CI S
15 ²7/7 = ( 7²³ + ²7 + zy) ² I
12
²5 ( 77² + ² + ² + ²y) 512 = 11 as
es
++
Vin= [₁ (R₁ + 1) - 1/2 Iz
substitle I
Vin= (R₁ +1) 45 (R₂+ 15 +15) 1₂ = [₂ 1/²/3
-
S
S
Vati
Tat
Vin

=
+ √₂
cz S
=
C25
(RICS + 1) (R₂ + 1 + 1)
C25
-
ra
IRICI Rz 5+ RICIS + RICIS the ++++
c₂\s
CIS
4₁ S
(R₁G₁5+ 1) (R₂C₂5 +1) + R₁C₁5
S
-11) as
ex
Dc mater
year ratio
2
I(s)_ _2₂ (5)
T
wij bw
Fr
T = k₁i in
log
F
L

Constar pant
Fr
W2
rades
T-bc₁ - Fr·r.
Ji wi prien (2)
+ Fr. √₂ - bw₂ = √₂ w₂ gear (3)
T-bw₁ - Fr. = C₁ (2)
Ji
"T" '= ICE [(s)
T-bu2₁ - Fr·ri = J₁5__₁
baz
F₂ √₂-b√2₂ = √₂5_-_12₂
get rid of Li, Tv Fr
22² =-TF
I2
?
fi
from maple Pre
_122= KE √₂
I

s (2r25₁ + J₂ r₁l+bri + 75b

_-_221=2-222