- #1
YinSan
- 2
- 0
- Homework Statement
- Develop dynamic equations of the system with ia(t).
- Relevant Equations
- Tm=KiIa
Equation for a DC motor driving an arm
- Context: Engineering
- Thread starter YinSan
- Start date
-
- Tags
- Arm Control system Dc Dc motor Motor
Click For Summary
SUMMARY
The discussion focuses on the dynamics of a DC motor driving an arm, specifically addressing the relationship between the motor angle (θ_m) and the load angle (θ_L). Participants highlight the absence of a gearbox, which would typically equalize these angles. Key parameters include the torsional spring constant (K) and the viscous-friction coefficient (B), which are critical for modeling the system's behavior. The user seeks assistance in developing dynamic equations to describe the system accurately.
PREREQUISITES- Understanding of DC motor dynamics
- Familiarity with differential equations
- Knowledge of mechanical systems and torque
- Basic concepts of control theory
- Research the derivation of dynamic equations for mechanical systems
- Learn about the effects of viscous friction in motor applications
- Study the role of torsional spring constants in mechanical systems
- Explore control strategies for DC motors driving loads
Mechanical engineers, control system designers, and students studying motor dynamics and mechanical systems will benefit from this discussion.
- #2
berkeman
Admin
- 69,346
- 24,677
Welcome to the PF. 
It would help if you would put into words what the problem is and what your approach is.
And could you please clarify why ##\theta_m## and ##\theta_L## are not equal? I don't see any sort of gearbox that will gear down the motor to make the arm rotate differently from the shaft.
It would help if you would put into words what the problem is and what your approach is.
And could you please clarify why ##\theta_m## and ##\theta_L## are not equal? I don't see any sort of gearbox that will gear down the motor to make the arm rotate differently from the shaft.
- #3
YinSan
- 2
- 0
K is the torsional spring constant
B = viscous-friction coefficient of shaft
between the motor and arm
TL is the disturbance on the torque arm.
K& B I think it should be located between the arm and motor. Subscript m refers to the motor. Subscript L refers to the load.
The picture I posted is my attempted solution for differential equations. I just don't know how to develop dynamic equations.
B = viscous-friction coefficient of shaft
between the motor and arm
TL is the disturbance on the torque arm.
K& B I think it should be located between the arm and motor. Subscript m refers to the motor. Subscript L refers to the load.
The picture I posted is my attempted solution for differential equations. I just don't know how to develop dynamic equations.
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