A certain dc motor has the following parameter values: L =
Chapter , Problem 11.61(choose chapter or problem)
A certain dc motor has the following parameter values:
\(\begin{aligned}L & =2 \times 10^{-3} \mathrm{H} \quad R=0.6 \Omega \\K_T & =0.04 \mathrm{~N} \cdot \mathrm{m} / \mathrm{A} \quad c=0 \\I & =6 \times 10^{-5} \mathrm{~kg} \cdot \mathrm{m}^2\end{aligned}\)
a. Compute the gains to give a dominant time constant of 0.5 s. The secondary roots should have a time constant of 0.05 s and a damping ratio of \(\zeta = 0.707\). The fourth root should be s = ?20.
b. Construct a Simulink model of the system and use it to plot the response of the system to a step disturbance of magnitude 0.1.
c. Suppose the motor current is limited to \(\pm 2 \ \mathrm{A}\). Modify the Simulink model to include this saturation, and use the model to obtain plots of the responses to a unit-step command and a step disturbance of magnitude 0.1. Discuss the results.
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