Part III - IPA SA
Part III - IPA SA
Part III - IPA SA
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74 REVISTA ROMÂN DE AUTOMATIC<br />
Figura 5<br />
Figura 6<br />
Ecuaiile funciilor de transfer pentru estimarea vitezei i cuplului sunt:<br />
H<br />
H<br />
est _ ω<br />
est _ M<br />
ˆ( ω s)<br />
( s)<br />
= = ω ( s)<br />
Mˆ<br />
( s)<br />
( s)<br />
= =<br />
M ( s)<br />
k<br />
d 0 p0<br />
i<br />
2<br />
( Jˆ<br />
+ k ) s + ( bˆ<br />
+ k )<br />
d 0<br />
s<br />
Js ˆ + bˆ<br />
*<br />
Js + b<br />
2<br />
+ k<br />
k<br />
s + k<br />
s<br />
p0<br />
2<br />
0<br />
s + k<br />
+ k<br />
i0<br />
d 0 p0<br />
i0<br />
2<br />
( Jˆ<br />
+ k<br />
0<br />
) ( ˆ<br />
d<br />
s + b + k<br />
p0<br />
) s + ki0<br />
;<br />
s + k
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