Question
Asked Nov 22, 2019
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  1. from the given equation 6.4.1, Determine the closed-loop disturbance to position transfer function, , assuming zero reference input, in terms of Jeq, K, τ, kp, ki and kd.   Assume a simulated disturbance voltage, Vsd, where the voltage applied to the motor is: second screenshot 
Tetwo-uagiee ur iCCaonIT
Compelsauor with sUL pomt wCigntng Is.
r()
y(t)
sp
[6.4.1]
d
sd
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Tetwo-uagiee ur iCCaonIT Compelsauor with sUL pomt wCigntng Is. r() y(t) sp [6.4.1] d sd

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V(s)u+
'eq
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V(s)u+ 'eq

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Expert Answer

Step 1

Rewrite the equation 6.4.1 and substitute 0 for r(t).

d
u() (br(t)-y()kfr(s) -y(+) dt + k b
dt
u()ky(t)-(t)dt-kj|
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d u() (br(t)-y()kfr(s) -y(+) dt + k b dt u()ky(t)-(t)dt-kj|

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Step 2

Take the Laplace transform,

ksY(s
U(6)=
k+
U (s)
Y(s)
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ksY(s U(6)= k+ U (s) Y(s)

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Step 3

Calculate the value of disturbance voltage after putt...

И() - И,(5) +U(5)
Т,т
+U(s) + U (s
(s)
КЛ.
eq
Т.t
V (s)
2U (s)
КЛ.
еq
Ко
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И() - И,(5) +U(5) Т,т +U(s) + U (s (s) КЛ. eq Т.t V (s) 2U (s) КЛ. еq Ко

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