Consider a permanent-magnet dc motor with the following parameters.

Consider a permanent-magnet dc motor with the following parameters: Ra=0.35Ω, La=1.5 mH, Ke=0.5 V/(rads/s), Kt= 0.5 Nm/A, and Jm= 0.02 Kg.M^2. The rated torque of this motor is 4Nm.

Part A) Plot the steady-state torque-speed characteristics for Va=100V, 60V, and 30V.

Part B) If the motor is supplied by a switch-mode dc-dc converter which has a dc-bus voltage of 200V. The switching frequency fs= 25 kHz. Calculate and plot the waveforms for Va(t), Ea, Ia(t), and Id(t) under the following conditions:

Part 1) Motoring in the forward direction at a speed of 1,500 rpm, supplying a load of 3Nm

Part 2) Regenerative braking from conditions in part 1, with a current of 10A.