OSU ECE 5463 - DC-Motor-Transfer-Function (5 pages)

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DC-Motor-Transfer-Function



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DC-Motor-Transfer-Function

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Pages:
5
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems

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DC Motor Take class notes Effective damping and inertia We have driven the dynamic equation for a DC motor as 1 From the above we can obtain effective damping and inertia Equation 1 becomes Effective damping B Effective inertia J Motor transfer function 1 Our goal is to obtain the relationship between the input V and output in the s domain It takes a few steps The first step in on the input side The second step is to plug in I s and V s in the above equation s Motor transfer function 2 From the above equation one can obtain the following if we ignore treat it as a disturbance input Since L is very small one can have So the relationship between the rotational speed of the joint and the input voltage is a first order system Typical values of the parameters U12M4T motor 0 101 nt m amp 14 4 oz in amp 0 101 v sec rad 3 03 10 nt m sec rad 0 043 oz in sec rad 2 33 10 nt m sec2 rad 0 033 oz in sec2 rad 102 0 75 100 same as Plug in the values into the transfer function we can obtain Time constant sec



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