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Build a permanent magnet servo motor using simulink and a four

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Build a permanent magnet servo motor using simulink and a four    Consider a permanent magnet dc servo motor with the following parameters: Tem(rated) = 10Nm Rated Speed in rpm Nrpm = 3700  kT = 0.5Nm/A  kE = 0.5V/rad/s Ra = 0.37Ω La/Ra = 4.05 × 10−3 s  Jeq = 0.0079kg-m2  The servo motor is driven by a full-bridge four-quadrant dc-dc converter operating from a 200V dc bus. The motor is delivering a torque of 5Nm at a speed of 1500rpm. The switching frequency is 20kHz.  1. Build the above dc motor and power electronic converter in Simulink. Using the simulation model, determine the peak-peak ripple in the armature current for the above operating condition in open-loop?  2. Design the current loop for a crossover frequency of 1kHz and the speed controller for a crossover frequency of 100Hz. 3. Build the closed loop model in Simulink. In the model, For a step increase in load torque from 5Nm to 10Nm,  with the speed reference at rated value, plot the response of the system speed and armature current .

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