Consider the DC motor-driven wheeled mobile robot shown in figure, in which m is the mass of the wheeled mobile robot, r is the radius of the driving wheel, and T is the torque delivered to the wheeled mobile robot by the DC motor. For simplicity, the motion is restricted to one spatial dimension. The figure also shows the simplified drive system, including the equivalent electrical circuit of the DC motor, the gears, and the driving wheel. The motor parameter values are: armature inductance La = 0.001 H, resistance Ra = 2.6 , back emf constant Kb = 0.008 V-s/rad (remember, vb = Kb), and torque constant Km = 0.008 N-m/A (remember, Tm = Kmia). The mass moment of inertia of the motor can be negligible. Also, neglect the viscous damping of the motor and the load (C = Cm = 0). The gear ratio N = m/ = T/Tm = 1.37. The wheel and the axle mechanism converts the rotational motion to translation, and the wheel radius is 0.00635 m. The mass of the cart is 0.455 kg. Neglect the wheel inertia effect
a. Create a Simulink model using the differential equation in part (a) and plot the displacement output x(t) and robot velocity ?̇(?) when the voltage applied to the DC motor is a pulse function, va(t) = 2 V for 0 ≤ t ≤ 2 s.
Consider the DC motor-driven wheeled mobile robot shown in figure, in which m is the mass...
This assignment is for my Engr dynamics systems class. Consider the electromechanical dynamic system shown in Figure 1(a). It consists of a cart of mass m moving without slipping on a linear ground track. The cart is equipped with an armature-controlled DC motor, which is coupled to a rack and pinion mechanism to convert the rotational motion to translation and to create the driving force for the system. Figure 1(b) shows the simplified equivalent electric circuit and the mechanical model...
The questions are at the bottom. I posted this previously without the information at the top and the answer was missing some key information. Consider the electromechanical dynamic system shown in Figure 1(a). It consists of a cart of mass m moving without slipping on a linear ground track. The cart is equipped with an armature-controlled DC motor, which is coupled to a rack and pinion mechanism to convert the rotational motion to translation and to create the driving force...
Problem-5 (20 pts): Consider the DC servo motor shown in Figure-5. Assume that the input of the system is the applied armature voltage ea and the output is the load shaft position θ2. Assume also the following numerical values for the components: Ra-) Armature winding resistance = 0.2Ω La → Armature winding inductance = 0.1 mH Kb-) Back emf constant 0.05 Vs/rad K > Motor torque constant 0.06 Nm/A Jr Moment of inertia of the rotor of the motor =...
The simplified diagram of a DC motor is shown in Fig. 4. Assume that the rotor has inertia m J and viscous friction coefficient Bm. The torque developed by the motor is assumed to be related linearly to the field current by , m m f T K i where the motor torque constant m f a K K K I 1 when the armature current a i is assumed constant (i.e. ) a a i I...
Question 3: DC motors can be simplistically modeled as shown in Figure 5 MoTor back emf Vi: +1 Resistor Ra Ia Figure 5: Simplified model of DC Motor (a) Write the three characteristic equations that determine the behavior of the DC motor. Denote torque constant and speed constant as Ka, K, respectively. (b) Motor parameters are the quantities that define the behavior of the motor. List the motor parameters from the described model. What are their units? (c) For given...
01- (08 Pts) Figure below is a diagram of a DC motor connected in parallel to a current source is the torque and back-EMF constants of the motor are K. K respectively, the motor resistance is R, also modeled as connected in parallel, the motor inertia is I. (not shown), and the motor inductance is negligible. The motor load is an inertia compliance (stiffness) K and viscous friction coefficient b, and it is attached to the motor via a gear...
Problem 2: (30 points) A mode ontrolled DC motor is she l or is shown below. The em 2: (30 points) A model of an armature contro aller, here modeled as a rigid body with mass load attached to the rotor of the motor is a prope is transmitted to the propeller through a shaft moment of inertia IL. The rotation of the rotor with torsional damping constant br. The proper eller motion generate a further load TL due to...