Assignment 3 information

• Oops --- the feedback control notes, section 4.3 says zeta = 0, but it should say zeta = 1. I've fixed the online version and the copies outside my office door.
• I inadvertently left off the mechanical part of the motor spec sheet, so regardless of whether you got the hardcopy or got the assignment off the web, you also need to know: Armature inertia = 2.97 x 10^-4 oz-in/sec^2.

• If you got assignment 3 off the web, then you didn't get the motor spec sheet that was copied onto the second page. Here are the numbers you need from the spec sheet: Armature resistance = 3.7 Ohms, Back EMF Constant = 1.91 mV/rpm, Torque constant = 2.58 oz-in/ampere.

• Perhaps I need to list the abbreviations that are used in these constants:
  • mV = millivolt = 0.001 volt
  • ampere = unit of electric current
  • ounce-inch = unit of torque (MKS torque unit is Newton-meter)
  • ounce-inch/second^2 = unit of rotational inertia (MKS is Newton-meter/second^2)
  • rpm = rotations per minute = unit of angular velocity (MKS unit is radians/second)
  Make sure you convert all units to MKS (metric): kilograms, meters, seconds, radians, ohms, amperes, newtons, etc. I believe I've given you all the relevant conversion factors on the assignment handout.