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Motor Modelling Lecture II

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

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

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

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

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

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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

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Open system

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Motor Modelling Lecture II

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

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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

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

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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)

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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)

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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)

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Open loop, (HW)

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Reversion of a Motor using H-bridge Lecture II

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Motor control switch Load Battery DC Motor i(t)

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Motor control switch Load Battery DC Motor i(t)

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Motor control

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

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Motor control switch Load K2 K1 K2 DC Motor Battery

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Relay and Contract switch Load DC Motor

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Motor Modeling Lecture II

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Cruise Control Lecture II

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