Q.1- An armature controlled D.
C motor runs at 5000 rpm when 15v applied at the armature
circuit. Armature resistance of the motor is 0.2 Ω, armature inductance is negligible, back emf
constant is 5.5x10-2 v sec/rad, motor torque constant is 6x10-5, moment of inertia of motor 10-5,
viscous friction coefficient is negligible, moment of inertia of load is 4.4x10 -3, viscous friction
coefficient of load is 4x10-2.
1.Drive the overall transfer function of the system i.e. ΩL(s)/ Ea(s)
2.Determine the gear ratio such that the rotational speed of the load is reduced to half and
torque is doubled.
System constants
ea = armature voltage
eb = back emf
Ra = armature winding resistance = 0.2 Ω
La = armature winding inductance = negligible
ia = armature winding current
Kb = back emf constant = 5.5x10-2 volt-sec/rad
Kt = motor torque constant = 6x10-5 N-m/ampere
Jm = moment of inertia of the motor = 1x10-5 kg-m2
Bm=viscous-friction coefficients of the motor = negligible
JL = moment of inertia of the load = 4.4x10-3 kgm2
BL = viscous friction coefficient of the load = 4x10-2 N-m/rad/sec
gear ratio = N1/N2.
Q.2- A field controlled D.C motor runs at 10000 rpm when 15v applied at the field circuit. Filed
resistance of the motor is 0.25 Ω, Filed inductance is 0.1 H, motor torque constant is 1x10-4,
moment of inertia of motor 10-5, viscous friction coefficient is 0.003, moment of inertia of load
is 4.4x10-3, viscous friction coefficient of load is 4x10-2.
1.Drive the overall transfer function of the system i.e. θL(s)/ Ef(s)
2.Determine the gear ratio such that the rotational speed of the load is reduced to 500 rpm.
Q.3- Consider the servo system shown in Figure below .The motor shown is a servomotor, a dc
motor designed specifically to be used in a control system. Obtain a block diagram for this
system and a simplified block diagram .
Numerical Values for System
constants
r = angular displacement of the reference input shaft
c = angular displacement of the output shaft
θ = angular displacement of the motor shaft
K1 = gain of the potentiometer shaft = 24/π
Kp = amplifier gain = 10
ea = armature voltage
eb = back emf
Ra = armature winding resistance = 0.2 Ω
La = armature winding inductance = negligible
ia = armature winding current
Kb = back emf constant = 5.5x10-2 volt-sec/rad
Kt = motor torque constant = 6x10-5 N-m/ampere
Jm = moment of inertia of the motor = 1x10-5 kg-m2
Bm=viscous-friction coefficients of the motor = negligible
JL = moment of inertia of the load = 4.4x10-3 kgm2
BL = viscous friction coefficient of the load = 4x10-2 N-m/rad/sec
n= gear ratio = N1/N2 = 1/10
Transfer function of the armature controlled D.C motor with load connected to it is given by
Error is difference between reference input R(t) and out calculated C(t) and can be
calculated as
Output of amplifier is 𝐸𝑎(𝑠)=𝐾𝑝𝐸 (𝑠)=10𝐸(𝑠)
Merging equation above , yields 𝐸𝑎(s) =76.4[ 𝑅(𝑆)−𝐶(𝑆)]
Relation between angular position of motor 𝜽 and angular position of load C is given as
𝐶(𝑠)=[1/10] 𝜃(𝑠) or 10𝐶(𝑠) =𝜃(𝑠)
Angular Position Control System as shown above ,
Final Closed loop transfer function of the system can now be written as
