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Electric Motor Speed Control

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friskyy

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What is the relationshipp between motor speed and average value of the armature input voltage, in a small electric motor controlled by Pulse-Width-Modulation( PWM) ?

Is it correct that by increasing the duty cycle of PWM ( the average time the motor is switched on) , we can only increase its average speed. But if we want to increase its maximum speed possible, we have to increase the armature input voltage, because Angular Velocity (w)= Vinput/(k*magnetic flux)?
 
V is proportional to Vm - ImRm and is proportional to speed
Current is proportional to torque

Which says an unloaded DC motor can be used as a tachometer.
 
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