1. Motor Modelling Lecture II

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

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

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

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

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

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

8. Motor Modelling Lecture II

9. Open system

13. Motor Modelling Lecture II

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

15. 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

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

17. 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)

18. 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)

19. 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)

20. Open loop, (HW)

21. Reversion of a Motor using H-bridge Lecture II

22. Motor control switch Load Battery DC Motor i(t)

23. Motor control switch Load Battery DC Motor i(t)

24. Motor control

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

26. Motor control switch Load K2 K1 K2 DC Motor Battery

27. Relay and Contract switch Load DC Motor

28. Motor Modeling Lecture II

29. Cruise Control Lecture II