1. EE 401 Control Systems Analysis and Design Modeling an Electromechanical System The DC Servomotor Fri, Jan 29 EE 401: Control Systems Analysis and Design Slide 1 of 4

2. The DC Servomotor Fri, Jan 29 Modeling a DC Servomotor:  Commutation results in a change in polarity S N V+ V- S N EE 401: Control Systems Analysis and Design Slide 2 of 4

3. The DC Servomotor Fri, Jan 29 An electromechanical system  The torque is  armature current  The back-EMF is  shaft speed  Armature circuit suggests  Summing the angular forces Assume a permanent magnet  constant field EE 401: Control Systems Analysis and Design Slide 3 of 4

4. The DC Servomotor Fri, Jan 29 An electromechanical system  The torque is  armature current  The back-EMF is  shaft speed  Armature input voltage  Motor torque  + - EE 401: Control Systems Analysis and Design Slide 4 of 4 Input = Armature Voltage Output = Motor Shaft Angle Input = Armature Voltage Output = Motor Shaft Angle