Submodel: DCMOTOR

Permanent magnet DC machine

:: Permanent magnet DC machine
DCMOTOR A, :: [V] armature-circuit +terminal
B, :: [V] armature-circuit -terminal
S, :: [rad/s] machine shaft
H/ :: [rad/s] machine housing
Kem=1,     ::[V*s/rad] machine electro-mechanical constant
La=0,      ::[H] armature-circuit inductance
Ra=0.1,    ::[ohm] armature-circuit resistance
Jm=0,      ::[kg*m**2] armature moment of inertia
Bm=0;      ::[N*m*s/rad] armature-to-housing damping factor
:Model:
Laa A-B = La; Raa - Laa = Ra; :armature circuit
Eaa - Laa = Kem*v.S;          :source of back EMF
Jt S-H = - Kem*i.Eaa;       :internal machine torque
Ca S = Jm;                  :armature inertia
Gm S-H = Bm;                :viscous torsional friction
EO@;
:Internal variables:
::I.Eaa [A] armature-circuit current
::Jt    [N*m] machine internal internal torque