{"id":6244,"date":"2024-01-30T18:30:53","date_gmt":"2024-01-30T09:30:53","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=6244"},"modified":"2026-10-04T08:55:32","modified_gmt":"2026-10-03T23:55:32","slug":"109%ed%9a%8c-dc-%eb%aa%a8%ed%84%b0-transfer-function","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/109%ed%9a%8c-dc-%eb%aa%a8%ed%84%b0-transfer-function\/","title":{"rendered":"109\ud68c DC \ubaa8\ud130 transfer function"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"927\" height=\"368\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-69.png\" alt=\"\" class=\"wp-image-6252\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-69.png 927w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-69-768x305.png 768w\" sizes=\"auto, (max-width: 927px) 100vw, 927px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1498\" height=\"2048\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-67.png\" alt=\"\" class=\"wp-image-6250\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-67.png 1498w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-67-768x1050.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-67-1124x1536.png 1124w\" sizes=\"auto, (max-width: 1498px) 100vw, 1498px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1498\" height=\"2048\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-68.png\" alt=\"\" class=\"wp-image-6251\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-68.png 1498w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-68-768x1050.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-68-1124x1536.png 1124w\" sizes=\"auto, (max-width: 1498px) 100vw, 1498px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-eeeguide-com wp-block-embed-eeeguide-com\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/www.eeeguide.com\/transfer-function-of-armature-controlled-dc-motor\n<\/div><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/ropiens.tistory.com\/8\">https:\/\/ropiens.tistory.com\/8<\/a><\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"[\uc81c\uc5b4\uc2dc\uc2a4\ud15c\uc124\uacc4] 5\uac15 Electro-Mechanical \uc2dc\uc2a4\ud15c modeling (DC \ubaa8\ud130 \ubaa8\ub378\ub9c1)\" width=\"580\" height=\"435\" src=\"https:\/\/www.youtube.com\/embed\/EQeD6Hd1gGk?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"\ud83d\udd34 DC Motor Modeling and Controller Design \u2b50 Theory, Calculations &amp; MATLAB Simulations\" width=\"580\" height=\"326\" src=\"https:\/\/www.youtube.com\/embed\/9YRPWpE9dVM?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"2089\" height=\"1011\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-81.png\" alt=\"\" class=\"wp-image-8901\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-81.png 2089w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-81-2048x991.png 2048w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-81-768x372.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2024\/01\/image-81-1536x743.png 1536w\" sizes=\"auto, (max-width: 2089px) 100vw, 2089px\" \/><\/figure>\n\n\n\n&#8220;`html\n<div class=\"chapter19-wide\">\n\n  <h1>109\ud68c DC Motor Transfer Function<\/h1>\n\n  <div class=\"subtitle\">\n    Armature Controlled DC Motor \u00b7 Back EMF \u00b7 Motor Torque \u00b7 Transfer Function\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. \ubb38\uc81c\uc758 DC Motor \ube14\ub85d\uc120\ub3c4<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc785\ub825\uc804\uc555 V(s)\uc5d0\uc11c \ubaa8\ud130 \uc704\uce58 \u03b8(s)\uae4c\uc9c0\uc758 \uc804\ub2ec\ud568\uc218\ub97c \uad6c\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n                           Tm(s)          - TL(s)\n                             \u2502               \u2193\n                             \u2502          +    -\n                             \u25bc         ( \u03a3 )\n                           \u250c\u2500\u2500\u2500\u2500\u2510          \u2502\n V(s) \u2500\u2500\u25ba (+) \u03a3 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba\u2502 Km \u2502\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n          (-) \u25b2            \u2514\u2500\u252c\u2500\u2500\u2518\n              \u2502              \u2502\n              \u2502          Ra + La s\n              \u2502              \u2502\n              \u2502              \u25bc\n              \u2502        \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n              \u2502        \u2502     1     \u2502\n              \u2502        \u2502 --------- \u2502\u2500\u2500\u2500\u2500\u25ba \u03c9(s) \u2500\u2500\u2500\u2500\u2500\u25ba [1\/s] \u2500\u2500\u2500\u2500\u2500\u25ba \u03b8(s)\n              \u2502        \u2502  Js + b   \u2502\n              \u2502        \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n              \u2502              \u2502\n              \u2502              \u2502\n              \u2514\u2500\u2500\u2500\u2500\u2500\u2500[ Kb ]\u25c4\u2500\u2518\n                     Back EMF\n    <\/pre>\n\n    <div class=\"formula\">\n      G(s)\n      =\n      \u03b8(s) \/ V(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. DC Motor \ubb3c\ub9ac \ubaa8\ub378<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n       Electrical                         Mechanical\n\n          Ra       La\n Vi \u2500\u2500\u2500\u2500\/\\\/\\\/\u2500\u2500\u2500\u2500( L )\u2500\u2500\u2500\u2500\u2500\u2510\n                            \u2502\n                          [ Motor ]\n                            \u2502\n                            \u2502 Tm\n                            \u25bc\n                         \u250c\u2500\u2500\u2500\u2500\u2500\u2510\n                         \u2502  J  \u2502\u2500\u2500\u2500\u2500 \u03b8m(t)\n                         \u2514\u2500\u2500\u2500\u2500\u2500\u2518\n                            \u2502\n                            b\n\n       Back EMF : Vb\n       Load Torque : TL\n    <\/pre>\n\n    <div class=\"formula\">\n      \u03b8<sub>m<\/sub>(t)\n      :\n      Motor Angle\n    <\/div>\n\n    <div class=\"formula\">\n      \u03b8<sub>L<\/sub>(t)\n      :\n      Load Angle\n    <\/div>\n\n    <div class=\"formula\">\n      T<sub>m<\/sub>\n      :\n      Motor Torque\n    <\/div>\n\n    <div class=\"formula\">\n      T<sub>L<\/sub>\n      :\n      Load Torque\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. Armature \uc804\uae30\ubc29\uc815\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c Armature \ud68c\ub85c\uc5d0 Kirchhoff \uc804\uc555\ubc95\uce59\uc744 \uc801\uc6a9\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      V<sub>i<\/sub>\n      =\n      R<sub>a<\/sub>I<sub>a<\/sub>\n      +\n      L<sub>a<\/sub>\n      dI<sub>a<\/sub>\/dt\n      +\n      V<sub>b<\/sub>\n    <\/div>\n\n    <p>\n      Laplace Transform\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      V<sub>i<\/sub>(s)\n      =\n      R<sub>a<\/sub>I<sub>a<\/sub>(s)\n      +\n      sL<sub>a<\/sub>I<sub>a<\/sub>(s)\n      +\n      V<sub>b<\/sub>(s)\n    <\/div>\n\n    <div class=\"formula\">\n      V<sub>i<\/sub>(s)\n      =\n      (R<sub>a<\/sub>+sL<sub>a<\/sub>)\n      I<sub>a<\/sub>(s)\n      +\n      V<sub>b<\/sub>(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. Motor Torque<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Motor Torque\ub294 Armature Current\uc5d0 \ube44\ub840\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      T<sub>m<\/sub>\n      =\n      K<sub>m<\/sub>I<sub>a<\/sub>\n    <\/div>\n\n    <p>\n      Laplace \uc601\uc5ed\uc5d0\uc11c\ub3c4\n    <\/p>\n\n    <div class=\"formula\">\n      T<sub>m<\/sub>(s)\n      =\n      K<sub>m<\/sub>I<sub>a<\/sub>(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. Back EMF<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Back EMF\ub294 Motor\uc758 \uac01\uc18d\ub3c4\uc5d0 \ube44\ub840\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      V<sub>b<\/sub>(t)\n      =\n      K<sub>b<\/sub>\n      d\u03b8<sub>m<\/sub>(t)\/dt\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c Laplace Transform\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      V<sub>b<\/sub>(s)\n      =\n      sK<sub>b<\/sub>\u03b8<sub>m<\/sub>(s)\n    <\/div>\n\n    <p>\n      \ub610\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      V<sub>b<\/sub>(s)\n      =\n      K<sub>b<\/sub>\u03c9(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. \uae30\uacc4\ubc29\uc815\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 \uad00\uc131\uacfc \uc810\uc131\ub9c8\ucc30\uc744 \ub2e4\uc74c\uacfc \uac19\uc774 \ub098\ud0c0\ub0b8\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      T<sub>L<\/sub>\n      =\n      (\n      s\u00b2J<sub>L<\/sub>\n      +\n      sb<sub>L<\/sub>\n      )\n      \u03b8<sub>L<\/sub>(s)\n    <\/div>\n\n    <p>\n      Motor \uce21\uc5d0\uc11c \ubd80\ud558\ud1a0\ud06c\ub97c \uc81c\uc678\ud55c \uae30\ubcf8 \uad00\uacc4\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      T<sub>m<\/sub>(s)\n      =\n      (\n      Js\u00b2 + bs\n      )\n      \u03b8(s)\n    <\/div>\n\n    <p>\n      \ub610\ub294 \uac01\uc18d\ub3c4 \u03c9(s)\ub97c \uc0ac\uc6a9\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      T<sub>m<\/sub>(s)\n      =\n      (Js+b)\u03c9(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. Armature Current<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc804\uae30\ubc29\uc815\uc2dd\uc5d0\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      V<sub>i<\/sub>(s)\n      =\n      (R<sub>a<\/sub>+sL<sub>a<\/sub>)\n      I<sub>a<\/sub>(s)\n      +\n      sK<sub>b<\/sub>\u03b8(s)\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      I<sub>a<\/sub>(s)\n      =\n      [\n      V<sub>i<\/sub>(s)\n      &#8211;\n      sK<sub>b<\/sub>\u03b8(s)\n      ]\n      \/\n      [\n      R<sub>a<\/sub>+sL<sub>a<\/sub>\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. Motor Torque \uc2dd\uc5d0 \ub300\uc785<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      T<sub>m<\/sub>(s)\n      =\n      K<sub>m<\/sub>I<sub>a<\/sub>(s)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      T<sub>m<\/sub>(s)\n      =\n      K<sub>m<\/sub>\n      [\n      V<sub>i<\/sub>(s)\n      &#8211;\n      sK<sub>b<\/sub>\u03b8(s)\n      ]\n      \/\n      [\n      R<sub>a<\/sub>+sL<sub>a<\/sub>\n      ]\n    <\/div>\n\n    <p>\n      \uae30\uacc4\ubc29\uc815\uc2dd\uacfc \uacb0\ud569\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>m<\/sub>\n      [\n      V<sub>i<\/sub>(s)\n      &#8211;\n      sK<sub>b<\/sub>\u03b8(s)\n      ]\n      \/\n      [\n      R<sub>a<\/sub>+sL<sub>a<\/sub>\n      ]\n      =\n      (\n      Js\u00b2+bs\n      )\n      \u03b8(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. \uc785\ub825\uc804\uc555\uacfc \uc704\uce58 \uad00\uacc4<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc591\ubcc0\uc5d0\n      \\(R_a+sL_a\\)\ub97c \uacf1\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>m<\/sub>V<sub>i<\/sub>(s)\n      &#8211;\n      sK<sub>m<\/sub>K<sub>b<\/sub>\u03b8(s)\n      =\n      (\n      Js\u00b2+bs\n      )\n      (\n      R<sub>a<\/sub>+sL<sub>a<\/sub>\n      )\n      \u03b8(s)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      K<sub>m<\/sub>V<sub>i<\/sub>(s)\n      =\n      [\n      (\n      Js\u00b2+bs\n      )\n      (\n      R<sub>a<\/sub>+sL<sub>a<\/sub>\n      )\n      +\n      sK<sub>m<\/sub>K<sub>b<\/sub>\n      ]\n      \u03b8(s)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. DC Motor \uc704\uce58 \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub530\ub77c\uc11c \uc774\ubbf8\uc9c0\uc758 \uc720\ub3c4\uc2dd\uc5d0\uc11c \uc704\uce58 \uc804\ub2ec\ud568\uc218\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      \u03b8(s)\n      \/\n      V<sub>i<\/sub>(s)\n      =\n      K<sub>m<\/sub>\n      \/\n      {\n      s\n      [\n      (sJ+b)\n      (R<sub>a<\/sub>+sL<sub>a<\/sub>)\n      +\n      K<sub>m<\/sub>K<sub>b<\/sub>\n      ]\n      }\n    <\/div>\n\n    <p>\n      \ub610\ub294 \ubd84\ubaa8\ub97c \uc804\uac1c\ud558\uc9c0 \uc54a\uc740 \ud615\ud0dc\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      \u03b8(s)\n      \/\n      V<sub>i<\/sub>(s)\n      =\n      K<sub>m<\/sub>\n      \/\n      [\n      s(sJ+b)(R<sub>a<\/sub>+sL<sub>a<\/sub>)\n      +\n      sK<sub>m<\/sub>K<sub>b<\/sub>\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. \uc774\ubbf8\uc9c0\uc758 \uadfc\uc0ac\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud544\uae30\uc5d0\uc11c\ub294 \uc804\uae30\uc801 Inductance \ud6a8\uacfc\uac00 \uc791\ub2e4\uace0 \ubcf4\uace0\n      \uadfc\uc0ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      L<sub>a<\/sub>\n      \u2248\n      0\n    <\/div>\n\n    <p>\n      \uadf8\ub7ec\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      \u03b8(s)\n      \/\n      V<sub>i<\/sub>(s)\n      \u2248\n      K<sub>m<\/sub>\n      \/\n      {\n      s\n      [\n      R<sub>a<\/sub>(sJ+b)\n      +\n      K<sub>m<\/sub>K<sub>b<\/sub>\n      ]\n      }\n    <\/div>\n\n    <p>\n      \ubd84\ubaa8\ub97c \uc815\ub9ac\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      =\n      K<sub>m<\/sub>\n      \/\n      [\n      s\n      (\n      JR<sub>a<\/sub>s\n      +\n      bR<sub>a<\/sub>\n      +\n      K<sub>m<\/sub>K<sub>b<\/sub>\n      )\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. \ud45c\uc900 2\ucc28 \ud615\ud0dc<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \\(JR_a\\)\ub85c \ub098\ub204\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      \u03b8(s)\n      \/\n      V<sub>i<\/sub>(s)\n      \u2248\n      K<sub>m<\/sub>\/(JR<sub>a<\/sub>)\n      \/\n      {\n      s\n      [\n      s\n      +\n      (\n      bR<sub>a<\/sub>\n      +\n      K<sub>m<\/sub>K<sub>b<\/sub>\n      )\n      \/\n      (JR<sub>a<\/sub>)\n      ]\n      }\n    <\/div>\n\n    <p>\n      \uc989 \ud544\uae30\uc5d0\uc11c\ub294 \ub2e4\uc74c\uacfc \uac19\uc740 \ud615\ud0dc\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      G(s)\n      =\n      P\n      \/\n      [\n      s(s+a)\n      ]\n    <\/div>\n\n    <div class=\"formula\">\n      P\n      =\n      K<sub>m<\/sub>\/(JR<sub>a<\/sub>)\n    <\/div>\n\n    <div class=\"formula\">\n      a\n      =\n      (\n      bR<sub>a<\/sub>\n      +\n      K<sub>m<\/sub>K<sub>b<\/sub>\n      )\n      \/\n      (JR<sub>a<\/sub>)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. \uc774\ubbf8\uc9c0\uc758 \ub4f1\uac00 \ube14\ub85d\uc120\ub3c4<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                          Tm(s)        TL(s)\n                            \u2502           \u2193\n                            \u25bc        +  -\n Vi(s) \u2500\u25ba (+)\u03a3 \u2500\u25ba [ 1\/(Ra+La s) ] \u2500\u25ba [ Km ] \u2500\u25ba (\u03a3) \u2500\u25ba [1\/(Js+b)] \u2500\u25ba \u03c9(s) \u2500\u25ba [1\/s] \u2500\u25ba \u03b8(s)\n          (-)\u25b2                                              \u2502\n             \u2502                                              \u2502\n             \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500[ Kb ]\u25c4\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n                              Back EMF\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. \ud589\ub82c\uc2dd\uc5d0 \uc758\ud55c \uc720\ub3c4<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub9c8\uc9c0\ub9c9 \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294 \uc804\uae30\uc2dd\uacfc \uae30\uacc4\uc2dd\uc744\n      \ud589\ub82c \ud615\ud0dc\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      [\n      L<sub>a<\/sub>s+R<sub>a<\/sub>\n      &nbsp;&nbsp;\n      K<sub>e<\/sub>s\n      <br>\n      -K<sub>t<\/sub>\n      &nbsp;&nbsp;\n      J<sub>m<\/sub>s\u00b2+bs\n      ]\n      [\n      I<sub>a<\/sub>(s)\n      <br>\n      \u03b8<sub>m<\/sub>(s)\n      ]\n      =\n      [\n      V<sub>a<\/sub>(s)\n      <br>\n      0\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. \ud589\ub82c\uc2dd det(A)<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ud589\ub82c A\ub97c\n    <\/p>\n\n    <div class=\"formula\">\n      A\n      =\n      [\n      L<sub>a<\/sub>s+R<sub>a<\/sub>\n      &nbsp;&nbsp;\n      K<sub>e<\/sub>s\n      <br>\n      -K<sub>t<\/sub>\n      &nbsp;&nbsp;\n      J<sub>m<\/sub>s\u00b2+bs\n      ]\n    <\/div>\n\n    <p>\n      \ub85c \ub450\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      det(A)\n      =\n      (\n      L<sub>a<\/sub>s+R<sub>a<\/sub>\n      )\n      (\n      J<sub>m<\/sub>s\u00b2+bs\n      )\n      +\n      K<sub>t<\/sub>K<sub>e<\/sub>s\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      det(A)\n      =\n      s\n      [\n      (\n      L<sub>a<\/sub>s+R<sub>a<\/sub>\n      )\n      (\n      J<sub>m<\/sub>s+b\n      )\n      +\n      K<sub>t<\/sub>K<sub>e<\/sub>\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>16. \uc804\ub958 \uc804\ub2ec\ud568\uc218<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub9c8\uc9c0\ub9c9 \uc774\ubbf8\uc9c0\uc5d0\uc11c Armature Current\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      I<sub>a<\/sub>(s)\n      \/\n      V<sub>a<\/sub>(s)\n      =\n      G<sub>1<\/sub>(s)\n    <\/div>\n\n    <div class=\"formula\">\n      =\n      (\n      J<sub>m<\/sub>s\u00b2+bs\n      )\n      \/\n      det(A)\n    <\/div>\n\n    <p>\n      \uc989\n    <\/p>\n\n    <div class=\"formula\">\n      I<sub>a<\/sub>(s)\n      \/\n      V<sub>a<\/sub>(s)\n      =\n      (\n      J<sub>m<\/sub>s+b\n      )\n      \/\n      [\n      (\n      L<sub>a<\/sub>s+R<sub>a<\/sub>\n      )\n      (\n      J<sub>m<\/sub>s+b\n      )\n      +\n      K<sub>t<\/sub>K<sub>e<\/sub>\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>17. \uc704\uce58 \uc804\ub2ec\ud568\uc218 \u2014 \ud589\ub82c\uc2dd \uacb0\uacfc<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Motor \uc704\uce58\uc5d0 \ub300\ud574\uc11c\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      \u03b8<sub>m<\/sub>(s)\n      \/\n      V<sub>a<\/sub>(s)\n      =\n      G<sub>2<\/sub>(s)\n    <\/div>\n\n    <div class=\"formula\">\n      =\n      K<sub>t<\/sub>\n      \/\n      det(A)\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      \u03b8<sub>m<\/sub>(s)\n      \/\n      V<sub>a<\/sub>(s)\n      =\n      K<sub>t<\/sub>\n      \/\n      {\n      s\n      [\n      (\n      L<sub>a<\/sub>s+R<sub>a<\/sub>\n      )\n      (\n      J<sub>m<\/sub>s+b\n      )\n      +\n      K<sub>t<\/sub>K<sub>e<\/sub>\n      ]\n      }\n    <\/div>\n\n    <div class=\"formula\">\n      \u2248\n      K\n      \/\n      [\n      s(\u03c4s+1)\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>18. \uc774\ubbf8\uc9c0 \ud575\uc2ec \uc218\uc2dd<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>\uc774\ubbf8\uc9c0 \ub0b4\uc6a9<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>\uc804\uae30\ubc29\uc815\uc2dd<\/strong><\/td>\n          <td>\n            V<sub>a<\/sub>\n            =\n            R<sub>a<\/sub>I<sub>a<\/sub>\n            +\n            L<sub>a<\/sub>dI<sub>a<\/sub>\/dt\n            +\n            V<sub>b<\/sub>\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Motor Torque<\/strong><\/td>\n          <td>\n            T<sub>m<\/sub>\n            =\n            K<sub>m<\/sub>I<sub>a<\/sub>\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Back EMF<\/strong><\/td>\n          <td>\n            V<sub>b<\/sub>\n            =\n            K<sub>b<\/sub>\u03c9\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Mechanical<\/strong><\/td>\n          <td>\n            T<sub>m<\/sub>\n            =\n            (Js+b)\u03c9\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc704\uce58\uc640 \uc18d\ub3c4<\/strong><\/td>\n          <td>\n            \u03c9(s)=s\u03b8(s)\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Position TF<\/strong><\/td>\n          <td>\n            K<sub>m<\/sub> \/\n            {s[(R<sub>a<\/sub>+sL<sub>a<\/sub>)(Js+b)+K<sub>m<\/sub>K<sub>b<\/sub>]}\n          <\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>L<sub>a<\/sub> \ubb34\uc2dc \uadfc\uc0ac<\/strong><\/td>\n          <td>\n            P\/[s(s+a)]\n          <\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    DC Motor, Armature Control, Transfer Function,\n    Back EMF, Motor Torque, Armature Current,\n    Electrical Dynamics, Mechanical Dynamics,\n    Angular Velocity, Angular Position\n  <\/div>\n\n<\/div>\n&#8220;`\n","protected":false},"excerpt":{"rendered":"<p>https:\/\/ropiens.tistory.com\/8 &#8220;`html 109\ud68c DC Motor Transfer Function Armature Controlled DC Motor \u00b7 Back EMF \u00b7 Motor Torque \u00b7 Transfer Function 1. \ubb38\uc81c\uc758 DC Motor \ube14\ub85d\uc120\ub3c4 \uc785\ub825\uc804\uc555 V(s)\uc5d0\uc11c \ubaa8\ud130 \uc704\uce58 \u03b8(s)\uae4c\uc9c0\uc758 \uc804\ub2ec\ud568\uc218\ub97c \uad6c\ud55c\ub2e4. Tm(s) &#8211; TL(s) \u2502 \u2193 \u2502 + &#8211; \u25bc ( \u03a3 ) \u250c\u2500\u2500\u2500\u2500\u2510 \u2502 V(s) \u2500\u2500\u25ba (+) \u03a3 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba\u2502 Km \u2502\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 (-) \u25b2 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_feature_clip_id":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_post_was_ever_published":false},"categories":[1185],"tags":[1243,1242],"class_list":["post-6244","post","type-post","status-publish","format-standard","hentry","category-1185","tag-back-emf","tag-dc-motor-modeling"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6244","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/comments?post=6244"}],"version-history":[{"count":8,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6244\/revisions"}],"predecessor-version":[{"id":9563,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/6244\/revisions\/9563"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=6244"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=6244"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=6244"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}