An armature-controlled DC motor with tachometer feedback is shown in Figure AP4.4. Assume that Km = 10, J = l, and R = 1.
(a) Determine the required gain, K, to restrict the steady-state error to a ramp input (v(t) = t for t > 0) to 0.1 (assume that Td(s) = 0).
(b) For the gain selected in part (a), determine and plot the error, e(t), due to a ramp disturbance for 0 ‰¤ t ‰¤ 5 seconds.
Figure AP4.4
DC motor with feedback.

Transcribed Image Text:

Power Amplifier Motor Integrator Vs)Error Control voltage ω(s) Speed RuJs Tachometer