Apps

## Apps.ElectricMotor History

June 16, 2015, at 04:16 AM by 45.56.3.184 -
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)
June 16, 2015, at 04:15 AM by 45.56.3.184 -
Changed line 28 from:
bm  = 1.0e-5    ! mechanical damping (linear model of friction: bm * dth)
to:
bm  = 1.0e-5    ! mechanical damping (friction: bm * dth)
March 06, 2010, at 09:38 AM by 206.180.155.75 -
Changed line 13 from:
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April 23, 2009, at 04:27 PM by 158.35.225.231 -
Changed lines 11-56 from:
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! APMonitor Modeling Language
! http://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)

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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December 01, 2008, at 08:56 PM by 158.35.225.227 -
November 04, 2008, at 08:27 PM by 158.35.225.231 -