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Engineering · Electrical Engineering
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Transfer Function derived from Lab 3:

2(s) RIn

Problem:

Using the theoretical transfer function model derived in Lab 3, rewrite your transfer function in the standard first-order form of equation (4.7). Rewrite the steady-state gain, K, of this system in terms of its parameters J k, and R Q1. eq Rewrite the time constant, τ,of this system in terms of its parameters-, km, and R Q2. eq Using the QUBE-servo parameters after adjusting your theoretical model in Lab 3: Calculate the steady-state gain, K, of this system? Calculate the time constant, r, of this system? Q3. Q4. These calculated values can be used to predict the output angular speed of the disk given an input voltage

Parameter values:

NOTE: Correct values for two of the parameters. Use these instead of the table: R,n 1.4. km-0.021

Table 3.1: QUBE-Servo system parameters Value Symbol Description DC Motor Terminal resistance Torque constant Motor back-emf constant0.042 V/(rad/s) Rotor inertia Rotor inductance Load hub mass Load hub radius Load hub inertia 8.492 /n 0.042 N - m/A /n 4.0x10-6 kg - m2 1.16 mH 0.0106 kg 0.0111 m 0.6x 10-6 kg m2 /n mh rh Load Disk md rd Mass of disk load 0.053 kg Radius of disk load 0.0248 m

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