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7 CTR - 2.2 - Rotação - EXEC
7 CTR - 2.2 - Rotação - EXEC
1
2
Obter a
função de transferência
2 ( s)
T (s)
5
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
6
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
7
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
8
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
9
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
10
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
11
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
12
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
13
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
14
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
15
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
16
T J
d 1 d 1
2
T D1 K (1 2 ) J1 2
dt dt
17
T J
d 1 d 1 2
T D1 K (1 2 ) J1 2
dt dt
T D1s1 ( s ) K1 ( s ) K 2 ( s ) J1s 1 ( s)
2
18
T J
d d 2
2
K (1 2 ) D2 J2 2
dt dt
19
T J
d d 2
2
K (1 2 ) D2 J2 2
dt dt
20
T J
d d 2
2
K (1 2 ) D2 J2 2
dt dt
21
T J
d 2 d 2
2
K (1 2 ) D2 J2 2
dt dt
22
T J
d 2 d 2
2
K (1 2 ) D2 J2 2
dt dt
23
T J
d 2 d 2
2
K (1 2 ) D2 J2 2
dt dt
24
T J
d 2 d 2
2
K (1 2 ) D2 J2 2
dt dt
25
T J
d d 22
K (1 2 ) D2 J2 2
dt dt
K1 ( s ) K 2 ( s ) D2 s 2 ( s ) J 2 s 2 ( s )
2
26
T D1s1 ( s) K1 ( s ) K 2 ( s ) J1s 1 ( s 2
27
K1 ( s ) K 2 ( s ) D2 s 2 ( s ) J 2 s 2 ( s )
2
0 K1 ( s ) K 2 ( s ) D2 s 2 ( s ) J 2 s 2 ( s )
2
0 K1 ( s ) ( J 2 s D2 s K ) 2 ( s )
2
28
T ( s) ( J1s D1s K )1 ( s ) K 2 ( s)
2
0 K1 ( s ) ( J 2 s D2 s K ) 2 ( s )
2
J1s 2 D1s K k
det
K J 2 s D2 s K
2
J1s D1s K T ( s )
2
det
K 0
2 (s)
30
J1s D1s K T ( s )
2
det
K 0
2 (s)
J1s D1s K
2
K
det
K J 2 s D2 s K
2
T (s) K 2 ( s) K
2 (s)
T (s)
31
J1s 2 D1s K K
det
K J 2 s D2 s K
2
s2 s 1 1
det 2 ( s) K
1 s s 1
2
T ( s)
s s 1 1
2 2
s 2s 3s 2s
4 3 2 2 (s) 1
4
T ( s ) s 2 s 3 3s 2 2 s
32
Obter a função de transferência
2 ( s)
T (s)
33
Chamemos de 1 ( s ) o deslocamento
angular da carga.
34
d1 d 2 d 1
2
T fv ( ) K (1 2 ) J 2
dt dt dt
d 1 ) d 2
fv ( ) K (1 2 )
dt dt
d 2 d 2
2
fv k 2 J 2
dt dt
36
d1 d 2 d 1
2
T fv ( ) K (1 2 ) J 2
dt dt dt
T s1 s 2 1 2 s 1 2
s1 s 2 1 2 s 2 2 0
( s 1)1 (2 s 2) 2
( s 1)1 2( s 1) 2
2 ( s)
1 2 2
1 2 2
T (s) 39
T s1 s 2 1 2 s 1
2
T ( s s 1)1 ( s 1) 2
2
1 2 2
T ( s s 1)2 2 ( s 1) 2
2
T (2 s 2 s 2 s 1) 2
2
40
T (2 s 2 s 2 s 1) 2
2
T (2 s s 1) 2
2
2 (s) 1
2
T ( s) 2s s 1
41
42
43
44
45