5 Problem 5: The DC motor you used in Lab 3 generates a torque of T = ½½ (V – kw), where k is theRmotor constant, R is the winding resistance, V is the applied voltage, and w is the angular velocity.Suppose the rotor and wheel have a combined rotational inertia I.a) Find the transfer function from motor voltage V to angular velocity w.P =b) You decide to use open-loop control to achieve a desired speed using the control law V =Fwd. What value for the constant gain F will result in zero steady-state error?WdFPωF =c) Do you think this open-loop control system will work well to drive a robot? Why or why not?d) You decide to add a feedback loop with integral action in addition to the feedforward gainsuch that the total motor voltage is V = Fwd + K₁f (wd-w)dt. Draw a block diagram forthis system and find the closed-loop transfer function from desired speed to speed Twa→w.Twα-w=e) The controller is limited to a voltage of ±10 V. What potential issues could this cause?

The torque-speed (T−ω) relation of a DC motor is given as:T=kR(V−kω),where,k is the motor constant,R…

Problem 5: The DC motor you used in Lab 3 generates a torque of T = ½-½ (V - kw), where k is the motor constant, R is the winding resistance, V is the applied voltage, and w is the angular velocity. Suppose the rotor and wheel have a combined rotational inertia I. a) Find the transfer function from motor voltage V to angular velocity w. P = b) You decide to use open-loop control to achieve a desired speed using the control law V = Fwd. What value for the constant gain F will result in zero steady-state error? Wa V F P. 3 F = c) Do you think this open-loop control system will work well to drive a robot? Why or why not? d) You decide to add a feedback loop with integral action in addition to the feedforward gain such that the total motor voltage is V = Fwd + K₁f (wa - w)dt. Draw a block diagram for this system and find the closed-loop transfer function from desired speed to speed Twa→w. Twa→w = e) The controller is limited to a voltage of ±10 V. What potential issues could this cause?

Problem 5: The DC motor you used in Lab 3 generates a torque of T = ½-½ (V - kw), where k is the motor constant, R is the winding resistance, V is the applied voltage, and w is the angular velocity. Suppose the rotor and wheel have a combined rotational inertia I. a) Find the transfer function from motor voltage V to angular velocity w. P = b) You decide to use open-loop control to achieve a desired speed using the control law V = Fwd. What value for the constant gain F will result in zero steady-state error? Wa V F P. 3 F = c) Do you think this open-loop control system will work well to drive a robot? Why or why not? d) You decide to add a feedback loop with integral action in addition to the feedforward gain such that the total motor voltage is V = Fwd + K₁f (wa - w)dt. Draw a block diagram for this system and find the closed-loop transfer function from desired speed to speed Twa→w. Twa→w = e) The controller is limited to a voltage of ±10 V. What potential issues could this cause?

Introductory Circuit Analysis (13th Edition)

13th Edition

ISBN:9780133923605

Author:Robert L. Boylestad

Publisher:Robert L. Boylestad

Chapter1: Introduction

Section: Chapter Questions

Problem 1P: Visit your local library (at school or home) and describe the extent to which it provides literature...

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