Question: A dc motor which has its torque-speed curve characteristics given below is driving a load through a gear train as shown in Figure 4.

A dc motor which has its torque-speed curve characteristics given below is

A dc motor which has its torque-speed curve characteristics given below is driving a load through a gear train as shown in Figure 4. In the measurement, at the speed of 75/ RPM, the torque is at 7.5 Nm. Find the transfer function G(s) Hints: T.F. of motor: ide this e(t) Motor 0(s) E (s) N = 4 J = 6 kg-m D = 1 N-m-s rad N= 12 | J= 3 kg-m D=3 N-m-s rad Torque-speed equation: T = -- N= 12 J3 = 3 kg-m He N= 60(1) s[s+ K, /(RJ) .. +-+-+-(Dm + K,Ko)] JM R J4=16kg-m Figure 4 K,K, R OL(S) Ea(s) @m 10 K, T(N-m) 75 R 20 V FE D3= 8 N-m-s/rad RPM

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