YinSan
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- 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
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- Tags
- Arm Control system Dc Dc motor Motor
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2 replies · 2K views
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.
YinSan
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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.