Consider the system:

Where the shaft connecting the motor to the load is considered rigid and the inertia of the pinion is negligible.

A) Write a state representation of the system taking as input the voltage v(t) applied to the motor and as output the position X(t) of the block M1.

B) Considering the following internal parameters of the motor

Km= 0,5 Nm/A

RA= 1.2 OHMS

LA=0.05 H

Jm=8x10^-4 Kgm^2

M1=80Kg

kv=0.05 Vsec/rad

KT= 0.05

Bm=0.001 Nsec/m

BI=1.5 Nsec/m

Pinion radius=0.02 m

Simulate the system in OCTAVE OR MATHLAB using the command "lsim" for one input

V(t)= 20V 0

10V 50

0V t>100s

Is the result reasonable?

 

Transcribed Image Text:

+ V IA MOTOR DC G M1 R X₂ Zv B1 XXXXXXXXXXXXXXXXXX + V IA MOTOR DC G M1 R X₂ Zv B1 XXXXXXXXXXXXXXXXXX

Answer rating: 100% (QA)

To simulate the system using the provided parameters and input voltages you can follow these steps Ill assume you are using MATLAB or Octave for the s... View the full answer