X(s) Input in V E(s) Error Kp(1+SK'D) C(s) Input in V 1 (1 + 4s)(1+0.8s) Y(s) Output in °C

8. Figure Q3 shows the block diagram of an electric locomotive motor where wa is the desired angular velocity of motor as set by the driver whilst w is the actual angular velocity achieved. The block G2(s) represents the load transfer function (i.e. the locomotive) whilst G¡(s) is the armature controller transfer function. The locomotive motor can experience torque disturbances due to braking, given by T4(s). Derive the transfer functions relating output angular velocity to desired angular velocity, and output w(s) wa(s) w(s) angular velocity to torque disturbance, , given 10 G|(s) = s+ 1 1 G2(s) = 2s + 0.5 Ta(s) w(s) (s)PM G|(s) 540 G2(s) 0.1 Figure Q3.

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