The traction drive uses the capstan drive system shown in Figure CDP2.1. Neglect the effect of the motor inductance and determine a state variable model for the system. The parameters are given in Table CDP2.1. The friction of the slide is negligible.

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Traction drive motor and capstan roller .c Drive bar Linear slide FIGURE CDP2.1 (a) Traction drive. capstan roller, and inear slide. (b) The block diagram model Table CDP2.1 Typical Parameters for the Armature-Controlled DC Motor and the Capstan and Slide M, Mass of slide M, Mass of drive bar 5.693 kg 6.96 kg 1091.10 3kg m Inertia of roller, shalt, motor and tachometer 31.75-1m 0.268 N ms/rad 0.8379 N m/amp 0.838 V s/tad 136 0 3.6 mH Roller radius Motor damping Torque constant K K, R Back emf constant Motor resistance Motor inductance