Question: a. Find the transfer function of a motor whose torquespeed curve and load are given in Figure P9.7. b. Design a tachometer compensator to yield

a. Find the transfer function of a motor whose torquespeed curve and load are given in Figure P9.7.

b. Design a tachometer compensator to yield a damping ratio of 0.5 for a position control employing a power amplifier of gain 1 and a preamplifier of gain 5000.

c. Compare the transient and steady-state characteristics of the uncompensated system and the compensated system.

Torque 0.5 N-m 5V + RPM 0. 60,000 Motor 4 10 S

Torque 0.5 N-m 5V + RPM 0. 60,000 Motor 4 10 S ke-m? 1 N-m-s/rad FIGURE P9.7

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