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Let us consider a speed-controlled motor with flexible coupling, lifting a load as shown below. The motor has proportionality constant Tm, the coupling is flexible with torsional stiffness kt, and r indicates the rotary disc radius. a) Draw a bond graph for this dynamic system (ignore any motor inertia). (8 points) b) Assign causality. (8 points) c) If the time constant of the electrical circuit is very small, it is possible to ignore the inductor. If this were the case and we modeled the system without the inductor, how would the causality of the system be changed? (4 points) Lw 10000 Rw we rotary disc J coupling ?? motor OF kt si b m 9


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