Please do both parts a and b. Thanks in advance!
10 pt – The figure below shows an electric motor driving a load. The motor has an electrical constant Kỵ, a torque constant Kt, an armature inductance La and a resistance Ra. The rotor has an inertia J₁ and a viscous friction B. The load has an inertia J₂. The two inertias are connected by a shaft with a spring constant k and a viscous damping b. La + va 16 Ra J₁ 0₁ k, b J2 (a) 6 pt - Write the equations of motion. (b) 4 pt – Write the state equations. Choose 01, 0₁, 02, 02, ia as the state variables, where ia is the current through the inductor La. The input is va and the output is 02.
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