Answer Happy

b) A DC motor drive dynamic can be expressed as follows: =Te-Ba-T and the variable torque produced is T₂ = kepia where k, is a torque constant, is flux level, i, is armature current, T, is load torque, J is the motor lumped inertia and B is the viscous friction constant. The motor has an armature current control loop that is designed to have a first-order system response given by the equation das i. where la(s). (s) are the actual and desired currents, respectively, and H is a constant. T is a time constant of the function. The current control configuration is to be adapted in cascade control for speed control system. The torque-current producing capacity can be expressed s constant defined by keo. ii. ia (s) (s) iii. H St, +1 The parameters for the system in b) are given as follows: J = 0.35 kgm², krp=1.5 Nm/A, H = 2, T₁ = 0.05 sec, B= 2.5 N/ Calculate the gain k, based on the given parameter values. SKEM 3133 (3 marks) N T(s) = TAS +1 (4 marks) (3 marks) Find the steady-state speed if the steady-state load torque of 1 Nm is applied and the demanded speed is 5 rad/s. Also find the steady-state error of the speed. (Tips: Use k, expressed in b) and calculated in c) i. for this question) (4 marks) If the speed sensor used has a limited bandwidth and the sensor's transfer function is given as: where N and T are constants values, suggest the changes needed to be done to design the controller in part c) i. (4 marks)