Page 98 - Robot Builders Source Book - Gordon McComb

3.3 Electric Drives 87

and its expansion into a Fourier series becomes

where r is the torque amplitude.
Thus, Equation (3.83) for this case can be rewritten in the form

and its solution will be composed of three components:

The solutions co l and co 2 are found as in the previous case for the corresponding forms
and may be expressed as

Here we show the solution a> 3 only for one first term of the series, namely,

Substituting it into Equation (3.92) for the corresponding case, we obtain the form

After rearrangement of the members and comparison between the left and right sides
of this equation, we obtain

Introducing the initial conditions, namely for t= 0, CD = 0, we derive

Finally, the solution of the full Equation (3.92) is

From Equation (3.97) we obtain the dependence

TEAM LRN