Page 95 - Robot Builders Source Book - Gordon McComb

84 Dynamic Analysis of Drives

FIGURE 3.20 Angular displacement of the DC motor's
rotor (composed of three components) versus time as a
solution of Equation 3.50.

discuss here the simplest case, i.e., when in Equation (3.41) T r = 0, which means that
resistance is negligible. Thus, we obtain

or

From Equation (3.75) it follows that

and finally that

Thus, for the dependence <p(t) we obtain

or

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