The parameter values for a certain armature-controlled motor, load, and tachometer are
KT = Kb = 0.2 N.m/A
cm = 5 x 10-4 N.m.s/rad
cL = 2 x 10-3
Ra = 0.8 Ω
La = 4 x 10-3 H
lm = 5 x 10-4
It = 10-4
IL = 5 x 10-3 kg-m2
N = 2
Ka = 10 V/V
Ktach = 20 V.s/rad
Kd = 10 V/rad
Kd = 2 rad/(rad/s)
For the control system whose block diagram is given by Figure 10.3.9, determine the value of the proportional gain Kp required for the load speed to be within 10% of the desired speed of 2000 rpm at steady state, and use the characteristic roots to evaluate the resulting transient response. For this value of Kp, evaluate the resulting steady-state deviation of the load speed caused by a load torque TL = 0.2 N.m.