Electric Motor
Apps.ElectricMotor History
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Changed line 39 from:
dth_m = 0 ! rotor angular velocity sometimes called omega (radians/sec)
to:
dth_m = 0 ! rotor angular velocity, omega (radians/sec)
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bm = 1.0e-5 ! mechanical damping (linear model of friction: bm * dth)
to:
bm = 1.0e-5 ! mechanical damping (friction: bm * dth)
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! APMonitor Modeling Language
! https://www.apmonitor.com
! DC Electric Motor
Model motor
Parameters
! motor parameters (dc motor)
v = 36 ! input voltage to the motor (volts)
rm = 0.1 ! motor resistance (ohm)
lm = 0.01 ! motor inductance (henrys)
kb = 6.5e-4 ! back emf constant (volt-sec/rad)
kt = 0.1 ! torque constant (N-m/a)
jm = 1.0e-4 ! rotor inertia (kg m^2)
bm = 1.0e-5 ! mechanical damping (linear model of friction: bm * dth)
! load parameters
jl = 1000*jm ! load inertia (1000 times the rotor)
bl = 1.0e-3 ! load damping (friction)
k = 1.0e2 ! spring constant for motor shaft to load
b = 0.1 ! spring damping for motor shaft to load
End Parameters
Variables
i = 0 ! motor electrical current (amps)
dth_m = 0 ! rotor angular velocity sometimes called omega (radians/sec)
th_m = 0 ! rotor angle, theta (radians)
dth_l = 0 ! wheel angular velocity (rad/sec)
th_l = 0 ! wheel angle (radians)
End Variables
Equations
lm*$i - v = -rm*i - kb *$th_m
jm*$dth_m = kt*i - (bm+b)*$th_m - k*th_m + b *$th_l + k*th_l
jl*$dth_l = b *$th_m + k*th_m - (b+bl)*$th_l - k*th_l
dth_m = $th_m
dth_l = $th_l
End Equations
End Model
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(:html:)<font size=1><pre>
! APMonitor Modeling Language
! https://www.apmonitor.com
! DC Electric Motor
Model motor
Parameters
! motor parameters (dc motor)
v = 36 ! input voltage to the motor (volts)
rm = 0.1 ! motor resistance (ohm)
lm = 0.01 ! motor inductance (henrys)
kb = 6.5e-4 ! back emf constant (volt-sec/rad)
kt = 0.1 ! torque constant (N-m/a)
jm = 1.0e-4 ! rotor inertia (kg m^2)
bm = 1.0e-5 ! mechanical damping (linear model of friction: bm * dth)
! load parameters
jl = 1000*jm ! load inertia (1000 times the rotor)
bl = 1.0e-3 ! load damping (friction)
k = 1.0e2 ! spring constant for motor shaft to load
b = 0.1 ! spring damping for motor shaft to load
End Parameters
Variables
i = 0 ! motor electrical current (amps)
dth_m = 0 ! rotor angular velocity sometimes called omega (radians/sec)
th_m = 0 ! rotor angle, theta (radians)
dth_l = 0 ! wheel angular velocity (rad/sec)
th_l = 0 ! wheel angle (radians)
End Variables
Equations
lm*$i - v = -rm*i - kb *$th_m
jm*$dth_m = kt*i - (bm+b)*$th_m - k*th_m + b *$th_l + k*th_l
jl*$dth_l = b *$th_m + k*th_m - (b+bl)*$th_l - k*th_l
dth_m = $th_m
dth_l = $th_l
End Equations
End Model
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!! Direct Current (DC) Motor
This DC motor model includes the dynamics for the motor shaft and a load attached to the shaft. The rotor and shaft are related by a spring constant and mechanical damping associated with the drive.
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!!! Model
* %list list-page% [[Attach:motor.apm | DC Motor]]
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This DC motor model includes the dynamics for the motor shaft and a load attached to the shaft. The rotor and shaft are related by a spring constant and mechanical damping associated with the drive.
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!!! Model
* %list list-page% [[Attach:motor.apm | DC Motor]]
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