The derivation of the field-controlled motor model in Section 6.5 neglected the elasticity of the motor-load shaft. Figure shows a model that includes this elasticity, denoted by its equivalent torsional spring constant kT. The motor inertia is I1, and the load inertia is l2. Derive the differential equation model with θ2 as output and vf as input.

Transcribed Image Text:

Motor Load T 0