+ ea(t) Motor 0m (t) N FOOT Tm N N3 J3 = 2 kg-m 0...

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+ ea(t) Motor 0m (t) N₁ FOOT 어 Tm N₂ N3 J3 = 2 kg-m² 0 (t) N₁ CO JL DL ЯНН Н In the figure above, an armature-controlled DC servomotor drives a load through two sets of gears. The armature circuit resistance is Ra and the inductance is negligible (La = 0). The load moment of inertia is J₁ and coefficient of vicious friction is DL. The internal torque developed by the motor is Tm. The moment of inertia of the motor rotor is J. The angular displacements of the motor rotor and the load are 0m and 0, respectively. The gear N₁ = 5, N₂ = 10, N3 = 30, N4 = 60. Gear 3 has some inertia J3 = 2 kgm² that must be included in the whole system inertia calculation. Find the transfer function H(s)= o(s)/ Ea(s). Calculate H(s) given that JL-32 kg-m², J = 3 kg-m², DL= 16 N-m-s/rad, Ra=202 and the torque-speed curve of the motor is Tm = -40m + 240 when the input voltage is 120V. + ea(t) Motor 0m (t) N₁ FOOT 어 Tm N₂ N3 J3 = 2 kg-m² 0 (t) N₁ CO JL DL ЯНН Н In the figure above, an armature-controlled DC servomotor drives a load through two sets of gears. The armature circuit resistance is Ra and the inductance is negligible (La = 0). The load moment of inertia is J₁ and coefficient of vicious friction is DL. The internal torque developed by the motor is Tm. The moment of inertia of the motor rotor is J. The angular displacements of the motor rotor and the load are 0m and 0, respectively. The gear N₁ = 5, N₂ = 10, N3 = 30, N4 = 60. Gear 3 has some inertia J3 = 2 kgm² that must be included in the whole system inertia calculation. Find the transfer function H(s)= o(s)/ Ea(s). Calculate H(s) given that JL-32 kg-m², J = 3 kg-m², DL= 16 N-m-s/rad, Ra=202 and the torque-speed curve of the motor is Tm = -40m + 240 when the input voltage is 120V.