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• ### Control Lab

Obtain the Simulink diagram of position control system shown in figure 1 and run the simulation. Assume the following numerical values for system constants:r = angular displacement of reference input shaft, radiansc = angular displacement of the output shaft, radiansθ = angular displacement of the motor shaft, radiansk1 = gain of the potentiometer error detector = 24/π volt/radkp = amplifier gain = 10 volt/voltea = applied armature voltage, volteb = back emf, voltRa = armature resistance, ohmsLa = armature winding...

• ### Figure Q1(b) shows the simplified diagram of the armature controlled D.C. b) servomotors used in instruments...

Figure Q1(b) shows the simplified diagram of the armature controlled D.C. b) servomotors used in instruments and employed a fixed permane nt magnet field. The control signal is app lied to the amature terminals. The inductance of armature winding is negligible. Obtain the transfer function of the servo mot or (assume K, K, and K, are constant) i) (10marks) Derive a state spa ce model for the servomotor (armature resistance is 0.2) (5marks) i) La Fixed field (if) Ra ww00...

• ### The simplified diagram of a DC motor is shown in Fig. 4. Assume that the rotor has inertia m J an...

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...

• ### 2. (20 points) A field controlled DC motor model is given below where eaſt) is an...

2. (20 points) A field controlled DC motor model is given below where eaſt) is an applied input voltage, ia(t) is the armature current, Ra and La are the armature resistance and inductance, respectively, e(t) is a back (or counter) emf (electro-motive force) le (t) = K w here K is a motor (torque) constant, t(t) is the torque generated by the motor, w(t) is the angular velocity, 0(t) is the angular position, J represents the rotor inertia and load...

• ### Problem 2: (30 points) A mode ontrolled DC motor is she l or is shown below....

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...

• ### Consider the DC motor-driven wheeled mobile robot shown in figure, in which m is the mass...

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...

• ### Problem 2 A separately excited DC motor is characterized by the followng intormation Armature res...

Problem 2 A separately excited DC motor is characterized by the followng intormation Armature resistance Ra-5 2 armature inductance La . very large, Field resistance RS200 Ω, ted voltage Vt 200 V, and an inertia constant J-12 kg m Neglecting friction losses and assuming no-saturation in the machine magnetic core system, answer the folowing questions: Part 1: (6 marks) he motor a as shown in figure 2a. The motor drives a constant power load of vaue 1 40375 hp (ie...

• ### 01- (08 Pts) Figure below is a diagram of a DC motor connected in parallel to...

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...

• ### D.C. motor is shown below, where the inductance L and the resistance R model the armature...

D.C. motor is shown below, where the inductance L and the resistance R model the armature circuit. The voltage Vbrepresents the back-emf which is proportional to dθ/dt via Kf. The torque T generated by the motor is proportional to the i via a constant Kt. In this application, let the constants Kt = Kf. The inertia J represents the combined inertia of the motor and load. The viscous friction acting on the output shaft is b. Attached to the shaft...

• ### 3.3 Consider the positional servomechanism shown in Fig. P3.3. Assume that the input to the system...

3.3 Consider the positional servomechanism shown in Fig. P3.3. Assume that the input to the system is reference shaft position ®, and the system output is the load shaft position 0. Draw a block diagram of the system indicating the transfer function of each block. Simplify the block diagram to obtain (s)/e (s). The parameters of the system are given below. Sensitivity of error detector K = 10 volts/rad Amplifier gain K = 50 volts/volt Motor field resistance R,= 100...