A.2:[3 Marks] Find the voltagetoposition transfer function of the SRVUQ servo motor, 3:153} in terms \"f Jeq: Beg, end Am parameters. What is order of the system? What is type of the system? Find poles and zeros of the system. voltageto position Consider the DC servo motor model illustrated in Figure(1), +0- B. N. e, = kc M N. Figure 1: SRV02 DC servo motor armature circuit and gear train The differential equation that describes the dynamic behaviour of the load shaft speed wi(t) as a function of the motor input voltage vm(t) can be written as: Jequi(t) + Beqwi(t) = AmUm(t) leg = ngK, Jm + JI, Beg = ghanmkthim + Beql Rim , Amongk gnmkit Rum Rim The parameters of the servo motor are defined as follows: Um Motor input voltage Rm Motor armature resistance (2.602) Motor armature inductance (0.18 ml) Jm Rotor moment of inertia about the motor shaft (4.61 x10-7kgm?) Bm Viscous friction acting on the motor shaft kt Motor current-torque constant (7.68 x 10-3 Nm/A) kim Motor back-emf constant (7.68 x 10-3 V/(rad/s)) Kg High-gear total gear ratio (14 x 5) ng Gearbox efficiency (0.90) Motor efficiency (0.69) Total load moment of inertia ( 1.03 x10-4kgm? ) Viscous friction acting on the load shaft Beql = ngK- Bm + Bi Equivalent viscous damping coefficient (0.015 Nm/(rad/s))