Radar_Pedestal - 1 2 3 4 5 6 7 8 Open-loop system equations...

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Unformatted text preview: 1 2 3 4 5 6 7 8 Open-loop system equations Inputs: va , d , if ; Outputs: ia, L, L armature rotor (1) va = La * ia + Ra * ia + K m (i f ) *m (2) K m (i f ) * ia = J m *m + Rm *m + s (3) s = k s * ( m - s ) shaft ( 4) L = g * s (5) = g * s gears gears load 9 L (6) L = J L *L + RL *L + d Open-loop state equations Inputs: va , d , if ; States: ia, m, m L, L (1) La * ia = va - Ra * ia - K m (i f ) * m (2) m = m (3) J m * m = K m (i f ) * ia - Rm * m - k s * ( m - g L ) (3) L = L (4) J L * L = k s * ( m - g L ) - RL *L - d 10 Closed-loop system equations Input: F(t); Output: L(t) Let d = 0 and let i f = cons. (1) L ( s ) = GOL ( s ) *Va ( s ) (2) Va ( s ) = F ( s ) - k P * L ( s ) - k D * s L ( s ) 11 12 13 ...
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Radar_Pedestal - 1 2 3 4 5 6 7 8 Open-loop system equations...

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