Solved: Refer to Figure 10.3.9, which shows a speed

Chapter , Problem 10.77

(choose chapter or problem)

Refer to Figure 10.3 .9, which shows a speed control system using an armature-controlled dc motor. The motor has the following parameter values. Create a Simulink model by modifying Figure 10.3.9 to use PI control instead of P control. Use the PI control gains computed in Problem 10.50 part (b).

\(\begin{aligned}& K_b=0.199 \mathrm{~V} \text {-sec/rad } \quad R_a=0.43 \Omega \\& K_T=0.14 \mathrm{lb}-\mathrm{ft} / \mathrm{A} \quad c_e=3.6 \times 10^{-4} \mathrm{lb}-\mathrm{ft}-\mathrm{sec} / \mathrm{rad} \\& I_e=2.08 \times 10^{-3} \text { slug- } \mathrm{ft}^2 \quad L_a=2.1 \times 10^{-3} \mathrm{H} \\& N=1 \\&\end{aligned}\)

a. Run the simulation using a unit-step command starting at t = 0 and a unit-step disturbance starting at t = 4 sec. Plot the speed and the motor current versus time.

b. Run the simulation for \(0 \leq t \leq 2 \mathrm{sec}\) using a unit-ramp command. Plot the speed error and the motor current versus time.