Shaft 2: inertia 12. Shaft 1: inertia I₁ Vm 01 Motor 0 Load Shaft 3: inertia 13 Feedback pot 0₂= 1/1/20₁ 9=10₂ i. ii. D

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Shaft 2 Inertia 12 Shaft 1 Inertia I Vm 01 Motor 0 Load Shaft 3 Inertia 13 Feedback Pot 0 1 1 20 9 10 I Ii D 1 (58.36 KiB) Viewed 22 times

Shaft 2 Inertia 12 Shaft 1 Inertia I Vm 01 Motor 0 Load Shaft 3 Inertia 13 Feedback Pot 0 1 1 20 9 10 I Ii D 2 (34.52 KiB) Viewed 22 times

parameters: 𝑅𝑎 = 0.3 Ω/// 𝐽J1 = 0.01 𝑘𝑔. 𝑚2 /// J2 = 5 × 10−4
𝑘𝑔. 𝑚2 /// J3 = 0.2 𝑘𝑔. 𝑚2 /// K𝑡 = 0.6 N. m/A /// K𝑝𝑜𝑡 = 2
𝑉olt/rad.
please answer these two questions. thank you.
Shaft 2: inertia 12. Shaft 1: inertia I₁ Vm 01 Motor 0 Load Shaft 3: inertia 13 Feedback pot 0₂= 1/1/20₁ 9=10₂
i. ii. Draw a detailed block diagram for the whole system. Assume that the armature inductance, La, is small compared to the armature resistance, i.e. La = 0 carry out the modelling of the system using differential equations and find the transfer function T(s) == of 0₁ the open loop and then the closed loop system.