It is well known that tha input voltage vs speed characteristics of the separately excited type d. c. servomotor can be expressed by first order time lag element with some approximation. However, the same characteristics are yet unknown of the series and shunt types. The objective of this paper is to make some research on these characteristics both in theory and experiment. The differential equation of the shunt type is of variable coefficicnt system in the case of open loop and of nonlinear system in the case of closed loop. In the series type, both cases are of nonlinear system. In the series type, the applied voltage E is related, with some approximation, to the speed x as expressed in the following:
_??_
Whereas, in the shunt type,
_??_
(α: friction,
k: proportional constant,
Rf: field resistance,
J: moment of inertia)
The time constant varies with the applied voltage. In the case of closed loop of the both types, the solutions can be obtained only by numerical analysis. The criterion of omission is also shown with the conclusion that resistance can be neglected in the series type, but not in the shunt type and that friction load should be taken into account in the series type, but is negligible in the shunt type. The experimental results satisfactorily coincide with theoretical ones.
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