Electromechanical Systems

Prof. Osberth De Castro

05 – Electro-mechanical
Systems Modeling
Osberth De Castro
Facultad de Ingeniería. Programa de Ingeniería Electrónica.
Sistemas Dinámicos
Based on:
System Dynamics, by K. Ogata
Modern Control Engineering, by K. Ogata
Joel Dawson, course materials for 6.302 Feedback Systems, MIT, 2007
http://lpsa.swarthmore.edu/TM/tmExplore/index.html?LPSA#tt_PhysSys
 Potenciometer

Prof. Osberth De Castro

 Magnetically Coupled

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 Magnetically Coupled - Speaker

https://www.sccs.swarthmore.edu/users/12/abiele1/Linear/examples/speaker.html

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 DC Motor

https://www.sccs.swarthmore.edu/users/12/abiele1/Linear/examples/motor.html

Prof. Osberth De Castro

 DC Motor
𝜏  =2 𝑛𝑟 ℓ 𝛽 ∗ 𝑖
 𝐾 𝑡 =2 𝑛𝑟 ℓ 𝛽

𝜏 =𝐾𝑡 ∗ 𝑖
 

𝑒  𝑚=2 𝑛𝑟 ℓ 𝛽 ∗ 𝜔
 𝐾 𝑒 =2 𝑛𝑟 ℓ 𝛽

𝑒 𝑚=𝐾 𝑒 ∗ 𝜔
 

www.maxonmotor.com

Prof. Osberth De Castro

  𝐾 𝑒 = 𝐾 𝑡 =𝐾
DC Motor
 𝜏 (𝑡 )= 𝐾 ∗ 𝑖
 

  𝜔( 𝑠) 𝑘
=
𝑒𝑖𝑛 ( 𝑠) ( 𝐽𝑠+ 𝑏 ) ( 𝐿𝑠+ 𝑅 )+ 𝐾 2
 Θ ( 𝑠)
=?
𝑒𝑖𝑛 ( 𝑠)
Prof. Osberth De Castro
 DC Motor Model Example
(J) moment of inertia of the rotor 0.01 kg.m^2
(b) motor viscous friction constant 0.1 N.m.s
(Ke) electromotive force constant 0.01 V/rad/sec
(Kt) motor torque constant 0.01 N.m/Amp
(R) electric resistance 1 Ohm
(L) electric inductance 0.5 H

www.maxonmotor.com

Prof. Osberth De Castro

 The GearBox Effect

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 The GearBox Effect

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 The GearBox Effect

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Prof. Osberth De Castro
 Ejemplo

 𝐾𝑡 =5 ; 𝐾𝑒=2

Prof. Osberth De Castro