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Rotational Motion

Torque Jx
Jddf Jdd zO
J
T Jug
0 angulardisplacement
g g go w
angular velocity
T Ja x angularacceleration
J Inertia
Fsictional Force
Damping
7 Dddf Ddated ay
g o
Lw
1 D di di

Spring Force
K Twist Force T KO
MMM uca
w
T
ay

system Example
F appliedforce
DddIt Frictional force
D
do to Ko Twist force
ZE Ja
Net force T Ddg Ko
Ja T Ddozy KO

JeffO T
DH
KO

T KO T JO D8 KO
JddItz DddI
TG Jsiols Depots KO

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Rotational ElectricalSystem
Comparison of Translational

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autonomy
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Jddttftdddf.tk I Ri V
µ Iu Lddi 1

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VF Lda Rdfftq
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F Mii 1 Die 1km

Motor
Example of a DC
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SB
Eb
Va iarathdia
Iacs Ebb
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Vals Iacs Rat
e
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E
B E of the Dc Motor D
Eb Kb'w4 Kbw If KW
D
Eb s Kbwls Kbwcs

Torque ofthe DC Motor


Tx Ia Tx If T KtIaIf T KtIa 30
B EMF constant and torque constants are equal Kb KT K
Eb s Kb Wls K ws
TCD Kt Iacs K Iacs

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Let us considerthe Mechanical Systemof the motor

1 Ja t Bw TL
T Te Jiu Bw B
TG Tls Jis Wcs Burls
y
1

1 s Tds Wcs Js B

w s Tds
Tests 0
g 4
or w s T E El
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Tds

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y
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Speed and position are related by Ecs Wcs
west
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Esco
i closed loop transfer function
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K
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y
Ratha Jes 113 K2

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skRa tBk
State Space Model of a DC Motor
A state Matrix
General form Xo AX BU
B Input Matrix
y CX 1 DU
c Output Matrix
D DirectTransmission
Armature voltage equation matrix
Va LDIata Raia Eb
Eb Raia Va KwD
Eb
Ldaia

data Ew Razia Maz


Mechanical System Equation

Tx t B w t TL T let us assume that load


torque is zero
Tx T Bw
Jw T BW T Kia
J w Kia BW

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