重大电气专业英语考试题DCmotorSpeedRootLocusController.docVIP

the DC motor speed modeling process: 1.assume we will assume that the input of the system is the voltage source (V) applied to the motors armature, while the output is the rotational speed of the shaft d(theta)/dt. 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. we will assume that the magnetic field is constant and, therefore, that the motor torque is proportional to only the armature current i by a constant factor Kt as shown in the equation below. This is referred to as an armature-controlled motor. The back emf, e, is proportional to the angular velocity of the shaft by a constant factor Ke. In SI units, the motor torque and back emf constants are equal, that is, Kt = Ke; therefore, we will use K to represent both the motor torque constant and the back emf constant. From the figure above, we can derive the following governing equations based on Newtons 2nd law and Kirchhoffs voltage law. 2. Transfer Function Applying the Laplace transform, the above modeling equations can be expressed in terms of the Laplace variable s. We arrive at the following open-loop transfer function by eliminating I(s) between the two above equations, where the rotational speed is considered the output and the armature voltage is considered the input. 3. State-Space In state-space form, the governing equations above can be expressed by choosing the rotational speed and electric current as the state variables. Again the armature voltage is treated as the input and the rotational speed is chosen as the output. Locus Controller Design: The main idea of root locus design is to predict the closed-loop response from the root locus plot which depicts possible closedloop pole locations and is drawn from the open-loop transfer function. Then by adding zeros and/or poles via the controller, the root locus can be modified in order to achieve a desired closedloop response. 1.Draw the ope