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Ce ~ “Transfey Gunchdn_ _of element of , Control system a ") Swvo motors ¢ . SJallsewo motor are seperately evfcted J. motor to get the Licwart X ele Sreil Oe prefer} ceper otely exited » torque wenstrolte:’ nolvoe Seve (oot) but Conventioral mootors mentum = 220V , Chiyhrating)- — Seno rotors av urd fh automatic Contyal qd. ‘ - ftfan aysems. f the Object vet ier vy ae ay) th TS a) gewe rnechaniscm Meera if “ong font i ‘Dn Aerio mote deans oe of rn wheat de oer Aeperate ryote Dccexvornates anmotwre Contvaled . phere 8 ac aexvo motdt | sera a Taorsfer guretiondy field coo? rad contad — OL_xexV0 cooks: als) (hee axmalwu con kept const ys) ets) oe eg bested “oh Ec(s) 2 eral: ab of feetd eotnding. © eo coteding f eople RL choreuePt] . If aes Ep { corse then “Toroute dewolped fa omachantok serotbe, +o 8 oe fi eden 7 Rea Ltuxper pee deperd4 i por pate clepert4 Se ae = sumof Opposing on field curr ek | tosqyso) Tat Ac og a ag Ts axmnoatwe currert % Constont Te aun fon % Se cae towaje srould. be ai, t5 counter balance “tre opporing tosques duo bo morert of erovtfa and fection. air: Ty + Ts st. z*db + 6 de S Sent © OE & Apply Zaplace Searsfeematton qe 38"4O(S + BCS) ol ome chankarh (S) = 30438 | 0S C 3 C notational “Gla =) € oratact Ape ) ° eLes beat evarnple fev Fae the cova eqiuailor: Ber Qocp ots T= onsa pb tPto Aysten A here ‘ Ae ta can chonge oomat Contact a 09 px Tp : (Ken 2 kta | aod hip T= KGLa : T= KATE To, Chote Ta & constant 1419 sont) oO Age KvL_ 2oop fiad. efscurtt | p= Rar U die opel e¢aplace facanafaro ces) = @ Rig ls) 4+5LI¢(S) ning towns Os ~ | Ke ERe) “olay 8) Frcs nots) fre Fig ‘diag 10M — me ial that iol here f fn Ate Hacks contiotled dc foo "¢ °g —Hrene 1M | one of the beat exarnple fer ee on % Orn Qoopr control aeptery orkelagt rit 2 =“ Freche freien of _onmnstivre corksiel de no ortsto Ce Srductonte jig oy ctlaal. woindin oS) ep mnachanscal ole €a(S) otect? eval tle: al axcnatie control ac mene Tosque & devolped - nota % constonbl: saeoghtoo here De -e. Applied pique = AU oppoiing toast 4p eles “1B t pb 4a 1 aie \ sae Taher ae Cl) ats)= Kr“? ) (Bin bathers av Joplace branupyr, os - tq O40 4 €o = a fp ae oe ee ec Herne barker (Eo) f (E,) dererds on peed field fehl Fp oo Mpe' thew % 00 back | foo eeraton cal rave backem! Co = ge e a ere goes apr ord eq Laplace ath RoIn(S) + LoSIaCs? +<@(S) acs) = RotalS) + doSIals) + Sk, eS) €a(s) 2 GY Ra + lag)1a(8) 4 9k, 08) Cals) ~ Sk,0CS) aa (Oper Cals) = Shpes). Rat BS La custflue Lhe atbove —-&n ea 4O- a 109) => Ke (“sak oe ud) Ra+Sla eo Tal s) 2 Ss ts 7 | EalS) "SBR (v4 M008) ( [i tend) throbs | | i kro S* ~PRa Che masyCL4W~S) “Mb \+ Fe (; axmalyus, Prion the block cdiagua CRA Pot . dc Kenvvo motet *& one oh | clowd Loop cent ol systor LPC Sew cro > A\C VO Mad) BS Generally rk has tuo coindiings - t) vteference eotnding +4000 phoue Enductbn en oy can-fered rt es Control coercing , ected Arc cu ee sa cobra adie woth Constante Control band ue ontcted eorth Vasdable A Be —yTwwoo windings asta untfsinly clictrelatted and displaced | by ag a pat = fn onder to — dewolp troque- | AC . aw dxxplaced | | PAQG, Othersist the tog Ue evel N by Rer0 ( e . as Tending i vaxfalle cup - i AY joka [ecy> EcCa> Ecy> Ccy Apeed v7 Brora the apeed torque ,Credactentts Vs nee 19 Hee ) Peppy Aophace mses) * KeCs) TCS) 2 +03) > (39+ 83 Jot) ExCS) “ ‘ : ansos) * Ke (8) = sres}oS) Kes > [rstses|eos)- 72°) kes = ([35+85- eae ET Sa pe ext grabs 4, gr onder to study albeut, bohaersi a are Pe pye? 4ho ilern s ot Kroon a4 tint genals oltou: oing nt of rfgnals He bee owr a4 D) ee ile & iain eg Pied) “(de)*9 grt eA% hraon amnagn tlude fa) af 9) (+20) dora ez = et ; hele Be po lgiaig 5-8" o> Y Pot >) O. (+20) ve 2 RCs) = \f ary hy >| nels bre “ta sheabbk | oclated to “Trango i us the natlo of Aoyha ce “Traruh ey pacar ft “wont Cy Output 40, plore Gsorferen 4 Sopat coth Zoro ptirol Conditions obtained 5, Chariacterdtic cowations ~ “the equate equating Hereeihelsl af the daanston t. to Fro % Krown oo chee clesdtic ecyiation Orders + “He onder by characters ecg % bro is OA Orde; of the aiplero” ta) as: higrot poser of “! ‘onthe denorrtratét oF the ariter “function the Oxley of -tretpler” Type ofthe sylers §- ae SRacreot\ pole euotion *% et ~The xocts of 4: chosactentic « he ‘3? Value Kroon a the Cm becomes ae fe tr. tos) 3 (si(ses) SY) Zens = sta =O poles = 5 (Set) 849) StU) = =O uF ta) SEO, -1,-3,°4 (igs are lus the value of ‘S’ fo" cohtdh Ranier functor bec an fiette - Zero! The vabisiofS faith Ponies furckOr = become Zeto- A a ~thu, noof pales poewnt at arn ongin Know oo” hype of the Byler - ANON state wneb—(Cgs) _ ~The Afference between desired volt — andar, \ Value fe Kroon as seady Alole exalt. q Css = vifew) toe ayttern teach to steady dole 5 transislant should be Zeyo ard e(t) (errortatgrok he De Zero es ccs) Res) (+ G(s) ioe ty Gls) H ELS) = RS) -@tS) but B(s) = acts) H(s) Es) = rsy= cS) H(s) but cCs)= €Cs) G(s) Els) = 6) ~ €0s)G(s) H¢S) Ets) + €6) G(s) H(S) = RCs) Ets) [v4 Gis) HCS) | = RG) Els) = R(s) 14¢G(SH(S) ‘ frere feo value theron, ir Pw = te, 5) a) from th forruloa. Gso 2 (OSECD Siabes e S RECS) es pt, SRS) $50 14 G(s) HG) froen thes deody) zkate endl depencly ory Hput ypu en 0 gylern- and — St depends oF boop feobuje oeton the ges) > topo : [ GH) open Decp| atau(s) > Doop bransger furctlon. | froriger | a 7 Steady stale caralysis *- | een 2s | sae = Sfeedba® \ Steady rtate esmdl k piven oy qi mg 7 on tk SRO) (-toxsngg@ts) epg, (9,609 SF 35° | (S) comstont |} "i oiSeN Aude A ott the Soput & ep fopot cofth orage (ub) “ ‘Ip= . ; ath =A 10 © . gts) = Als lg bs ee rh eee sr) ey s0 1465S) as mall ae GH) : 350 — Ants) é #3 he oft le] : ° 6 ° i ele" sfa oyster te ensctted Ww Ve [te = G(s) HG) A 2» Kp = ekenal exc Coeffafert ia styolst the tops % sarnp grat aotth nar tise 1° L1G.) RCS) 4 a vee = s>0 1G cB)H(S) DD \ & Bo Sl 14G(s) nics) ) a Oe sleou, kd ateody Atohe_e4 Cae Oth e ern 4 c ft $8 type z voryclero io Loh Stepar gral] ese * Pye: & ers), a [ “ent ure 010 S=0 cr acsynis) > | olok Rs) 5 dep °Ip | Here "le % Cortart | Cro terre conan) “Gils)* C3) ; G(s) HS) = daly 143m) (4979) - | Atoptie Nan | Cas ep) (ten) [ttjee Saat ee Lal J 6 Bes = a ( step*lp read stats oval) ke = a,(sy+H(S) m 20 kp 2 Ut K (1481) (87) J 3 aaa (1+3 Ta) C148 b) (3=0 Sotyee oxo) Ke = # [se pe 4 B= mee eke 1S statrord tn yge ona pidest) CST) fp pen B SS J en step *[p GCs) H(S) = ‘ S(1+87) (t+STp) wr ec Be | kp 2 Glo 3 \4Kp fe Als = S| Kp = Le Ge) oH() $50 5 Kp = ot & cusn) (st9). & cusn) (st9). (l4S To om con $s oO. € cyte) Aastiy : nae Ge? ae o Cheyer) at tenty swells Bas Fel ee Lae (+ Ke ; [eed [o> tient nets ‘ es a jirite te axel re ck of fet above =" ath © Aep topst De 2x61. e Ban ‘ vytte “Type Zero cotth “Ramp agrot. $> ‘ 7 a ee exckUatfo ecg = UM se(s) sa Cann Com, SO es NA teady Atoky . EBD v15,;, Tats) HS) eet R(5) > xtarop'le G(s)H (8) = eID) wna ’ (t+Sta) Ct4S Tp) SSF Alay ku = Ue SGr(3)-HCS) %>50 miko (3-0) low KW = uk (0) G(S)2 HS) hog (EDI Css = Ale CAlnu| J the cxilations Hereosing pretest i av) “TyPe Be ge th Roenp grat aS soe th 8et5)) $0 1+ GSH) det Ris) 2 tp Roeryigoat G(syes) 2 CST) (St) an ce) (1481): -- ess > Al Sttstape 4 fo Cs'= >8-] Wwe x STON Ky Suey, gee Cu'Srayy 2 ) (i+ $19) U+$tb)- -- Ky = Me Kitts) (14575) t (Sta) CS %) Ku =k a J 1 : less 2.Alk |" ee On unity feodlback Control . aH, 16 ae eee pron o constan\ yy Sa 6S «00 Ls Ab wooly — Bo hy, ahs ‘lp 94 tatty ccs) Faye h tu Gil) by. “Rla) 4 OSH10 Pr? $50 ) ibis « aha Ky 2 a S63) ug OM Ses HO eed a HES Gish DCH) = tt Hey Cosel or eon Hy GCs) = 10 a hare tho. Tac = 2 Cunthy er "e). | atm yor“ CQ o> we condo ee Nt taGil SESH C465 ute \ Oo +6y a MORES ite uf Ebay pave Gr S4es( ty JO deep randy S468 funceortive a pee 10 /g465 C5 ad pea tec i+ Jo CUS ig O SG(s)-H(s ps bate) hispttae CBS a8) 6) P $90 Oty yp S10 Ke > dk ul OS yy ROT Q>50 S468 font a) ke = ‘eo 90 gare Lae | $10 D649 J me 16 Ko beats 3 ( @ 10 ; ~— $0 S408 > Ue Seex So “346 SK ee , g>0 (oj y ayplen has the Bonito, es , ath> HEX” a : a a , ess: * aoa Teka A Goeth] (Kp Kv ka 4 ae ra) Rarnp Ay } % _—_ + Ar n mab) Parriakalic F 14Ke ky Ka ee | ee ] 140 B10 6. ey? 6 y~ Ry) foo Fey A (o9) tO ht ae 2 OF O6 40 ene a> © 2, Kteadly trate on © a untly feedback a ayten has the Poop dsanifer yo 3+2) i colouate Osder & & depends or the enpul Px fucetor a S(S+1) CS+3) me gris, wer Cr Coofferents and Ie kote 215 whan the lp. to tne ayiteen % Be reach ee ys bo uo (St 2) hey Pren LOOP a] "ee alann(s +3) a njurcth ms YY a & ad Onder ayster”” ao tay ghee + ype 24 agate” polo zeae aies=0, —* 3. ty extae coupytertts-—" Kp hv, Ko» woeen = sth At me tio E19. (DH (3) o(snysts)! St SGCSHCS) fe 2 Poss G(s) HIS ) Ws Sto Ke 2 vs uolst2) _( at nuolst2 aap “Stony (S+9 S90 7 yeg a(S?) ea ae nt ) god —" S hag > Bog 
