ENEL

Solutions
Tm441 Quiz 3
Tl
1. (10
N1 points) An armature-controlled electric motor with ideal op-amp control and its block diagram is
shown
N2 below. The input voltage to the op-amp is v i (t) = e(t) = (des (t) (t))
R2

M
l

ia (t)

R1

motor
gear
varm
i (t)

Ra

La

va (t)

J
D

(t)

Op-amp

Mechanical
Electrical

0 Va (s)
Vi (s) 0
=
R1
R2 + 1/Cs


1
Va (s)
R2
=
+
Vi (s)
R1 R1 Cs
Va (s)
= Gc (s)
Vi (s)
Va (s)
= Gc (s)
E(s)

ments

Impedances (s) = Total T (s)

Impedances I(s) = Total V (s)

(Js + D)(s) = Tm (s) Td (s)

1
(Km (s)Ia (s) Td (s))
(s) =
(Js + D)
(s) = Gl (s)(Km (s)Ia (s) Td (s))
1
(s) = Gl (s)(Km (s)Ia (s) Td (s))
s

La sIa (s) = Va (s) Kb (s)

1
Ia (s) =
(Va (s) Kb (s))
La s
Ia (s) = Ga (s)(Va (s) Kb (s))

Td
des

Gc

Va +

Vm

Ga

Ia

Km

Vb
Kb

Tm +

Tl

Gl

1
s