The block diagram model of an armature-current-controlled DC motor is shown in Figure AP5.6.
(a) Determine the steady-state tracking error to a ramp input r(t) = t, t ‰¥ 0, in terms of K, Kb, and Km.
(b) Let Km = 10 and Kb = 0.05, and select K so that steady-state tracking error is equal to 1.
(c) Plot the response to a unit step input and a unit ramp input for 20 seconds. Are the responses acceptable?
Figure AP5.6
DC motor control.

Transcribed Image Text:

DC motor Ka s +0.01