 |
= |
input voltage. Positive input voltage moves cart toward right. |
 |
= |
output voltage |
| E |
= |
EMF across motor |
 |
= |
Motor armature resistance |
 |
= |
Motor armature current |
 |
= |
Torque developed by motor |
| F |
= |
Force transmitted to wire by motor |
 |
= |
Motor shaft angle |
| r |
= |
effective radius of motor shaft. (
) |
| H |
= |
Force in Horizontal direction. |
 |
= |
X coordinate of cart. Note positive
is toward right. |
 |
= |
Amplifier gain constant |
 |
= |
A constant of the motor |
| M |
= |
mass of cart |
 |
= |
viscous damping of motor |
 |
= |
viscous damping of cart |
 |
= |
inertia of motor |
| J |
= |
combined inertia of motor and cart. (
) |
| B |
= |
combined damping of motor and cart. (
) |
 |
= |
Viscous damping constant. (
) |
