from the given equation 6.4.1, Determine the closed-loop disturbance to position transfer function, , assuming zero reference input, in terms of Jeq, K, τ, kp, ki and kd. Assume a simulated disturbance voltage, Vsd, where the voltage applied to the motor is: second screenshot Tetwo-uagiee ur iCCaonITCompelsauor with sUL pomt wCigntng Is.r()y(t)sp[6.4.1]dsd V(s)u+'eq

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Introductory Circuit Analysis (13th Edition)

13th Edition

ISBN:9780133923605

Author:Robert L. Boylestad

Publisher:Robert L. Boylestad

Chapter1: Introduction

Section: Chapter Questions

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from the given equation 6.4.1, Determine the closed-loop disturbance to position transfer function, , assuming zero reference input, in terms of J_eq, K, τ, k_p_,k_iand k_d. Assume a simulated disturbance voltage, V_sd, where the voltage applied to the motor is: second screenshot

Tetwo-uagiee ur iCCaonIT
Compelsauor with sUL pomt wCigntng Is.
r()
y(t)
sp
[6.4.1]
d
sd

Expert Solution

Step 1

Rewrite the equation 6.4.1 and substitute 0 for r(t).

d
u() (br(t)-y()kfr(s) -y(+) dt + k b
dt
u()ky(t)-(t)dt-kj|

Step 2

Take the Laplace transform,

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