In a armature controlled motor, the field current if is held constant, and the armature current is controlled through the armature voltage Va. In this case, the motor torque increase linearly with the armature current.

**Armature Current Controlled:**

In a
armature controlled motor, the field current i* _{f}* is held constant, and the armature current is
controlled through the armature voltage V

The
transfer function from the input armature current to the resulting motor torque
is

Equations
(1.8), (1.11) and (1.12) together can be represented by the closed loop block
diageam shown below.

Block
diagram reduction gives the transfer unction from the input armature voltage to
the resulting speed change.

The
transfer function from the input armature voltage to the resulting angular
position change is ound by multiplying Equation (1.13) by 1/s.

The
voltage/current relationship for the armature side of the motor is

Where V_{b}
represents the “back EMF” induced by the rotation of the armature windings in a
magnetic field. The back EMF V_{b} is proportional to the speed W, i.e.
V_{b}(s) = K_{b}w(s). Taking Laplace transforms of Eqution
(1.9) gives

As
before, the transfer function rom the input motor torque to rotational speed
change is

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Solid State Drives : Design of Controllers For Drives : Armature Current Controlled |

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