Motor Modelling Lecture II. Open system y(t) = a y(t) + x(t) y(t) =  [a y(  ) + x(  )] x(t) y(t)

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Motor Modelling Lecture II

Open system y(t) = a y(t) + x(t) y(t) =  [a y(  ) + x(  )] x(t) y(t)

Open system a = Gain x(t) y(t) system

Open system y(t) = a y(t) + x(t) x(t) y(t) ODE Rang kutta ODE

Open system y(t) = a y(t) + x(t) y(t) =  [a y(  ) + x(  )] x(t) y(t)

Open system y(t) =  [a y(  ) + x(  )] x(t) y(t)

Open system y(t) = a y(t) + x(t) y(t) =  [a y(  ) + x(  )] x(t) y(t)

Motor Modelling Lecture II

Open system

Motor Modelling Lecture II

Open system y(t) =  [a y(  ) + x(  )] x(t) y(t)

Motor Modelling switch Load Battery DC Motor T = I L  (1) T = K T i(t) (2) i(t) T = Torque I = moment of inertia i(t) = current  = angular velocity K T = Constance

switch V emf V SS RmRm LmLm i(t) V ss = i(t)R m + Ldi(t)/dt + V emf..........(3) Motor Modelling

I L  = K T i(t) (2 =3 ) switch V emf V SS RmRm LmLm i(t) di(t)/dt = [V ss -i(t)R m - V emf ]/L (5) Motor Modelling  = K T i(t)/I L (4 ) di(t)/dt = [V ss -i(t)R m - K B  ]/L (6)

I L  = K T i(t) (2 =3 ) switch V emf V SS RmRm LmLm i(t) di(t)/dt = [V ss -i(t)R m - V emf ]/L (5) Motor Modelling  = K T i(t)/I L (4 ) di(t)/dt = [V ss -i(t)R m - i(t)  ]/L (6)

Open loop R = -1 Ohm L = 0.2 H IL = 0.005 kg*m 2 Kt =0.02 Nm/A Kb =0.22 V/(rad-s)

Open loop, (HW)

Reversion of a Motor using H-bridge Lecture II

Motor control switch Load Battery DC Motor i(t)

Motor control switch Load Battery DC Motor i(t)

Motor control

switch Load Battery DC Motor i(t) Contract K1 Coil K1 switch

Motor control switch Load K2 K1 K2 DC Motor Battery

Relay and Contract switch Load DC Motor

Motor Modeling Lecture II

Cruise Control Lecture II

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