CSAD402: A common actuator in control systems is the DC motor. It directly provides rotary motion and, coupled with wheels: DC Motor System Modelling Introduction Assignment, DCU, Ireland
| University | Dublin City University (DCU) |
| Subject | CSAD402 Assignment: DC Motor System Modelling |
A common actuator in control systems is the DC motor. It directly provides rotary motion and, coupled with wheels or drums and cables, can provide translational motion. The electric equivalent circuit of the armature and the free-body diagram of the rotor are shown in the following figure
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For this example, we will assume that the input of the system is the voltage source () applied to the motor’s armature, while the output is the rotational speed of the shaft . The rotor and shaft are assumed to be rigid. We further assume a viscous friction model, that is, the friction torque is proportional to shaft angular velocity.
The physical parameters for our example are:
| (J) | moment of inertia of the rotor | 0.63 kg.m^2 |
| (b) | motor viscous friction constant | 0.1 N.m.s |
| (Ke) | electromotive force constant | 0.01 V/rad/sec |
| (Kt) | motor torque constant | 0.01 N.m/Amp |
| (R) | electric resistance | 1 Ohm |
| (L) | electric inductance | 0.5 H |
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