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The torque-speed characteristics of a DC motor have been determined, as shown in the figure below. Note that u is the voltage applied to the motor armature, m t and ? m are, respectively, the output...

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The torque-speed characteristics of a DC motor have been determined, as shown in the figure below. Note that u is the voltage applied to the motor armature, m t and ? m are, respectively, the output torque and angular velocity of the motor shaft. From this plot, (a) Obtain the motor constant, torque constant, and armature resistance of the motor. (b) When the motor is rotating at 100 radians per second, what is the back emf voltage induced at the armature? (c) When the motor is producing 2x10-3 Nm of torque, how much power is dissipated as heat at the motor windings? m t ? m 0 4 x 10-3 Nm 160 r/s u = 20 volts 200 r/s u = 24 volts Figure 1 Torque-speed characteristics of a DC motor Problem 2 The DC motor in Problem 1 is now used for driving a single axis robot arm with a gear reducer. See the figure below. The inertia of the motor rotor including the shaft and the pinion gear is Im = 1.0 x 10-4 kgm2 , while the arm inertia about the joint axis including the joint axis and the large gear is Ia= 1.6 x 10-1 kgm2 . Obtain the gear ratio that maximizes the angular acceleration of the joint axis, when the angular velocity is almost zero. Ignore gravity and viscous damping. Also obtain the maximum angular acceleration when the maximum armature voltage is 30 volts.
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Answered Same Day Dec 26, 2021

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Robert answered on Dec 26 2021
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