WOLFRAM SYSTEMMODELER

Motor

Motor model including current controller of r3 motors

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.Motor"]
Out[1]:=

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

Default values are given for the motor of joint 1. The input of the motor is the desired current (the actual current is proportional to the torque produced by the motor).

Parameters (6)

J

Value: 0.0013

Type: Inertia (kg·m²)

Description: Moment of inertia of motor

k

Value: 1.1616

Type: Real

Description: Gain of motor

w

Value: 4590

Type: Real

Description: Time constant of motor

D

Value: 0.6

Type: Real

Description: Damping constant of motor

w_max

Value: 315

Type: AngularVelocity (rad/s)

Description: Maximum speed of motor

i_max

Value: 9

Type: Current (A)

Description: Maximum current of motor

Connectors (2)

flange_motor

Type: Flange_b

axisControlBus

Type: AxisControlBus

Components (27)

Vs

Type: SignalVoltage

power

Type: IdealOpAmp

diff

Type: IdealOpAmp

emf

Type: EMF

La

Type: Inductor

Ra

Type: Resistor

Rd2

Type: Resistor

C

Type: Capacitor

OpI

Type: IdealOpAmp

Ri

Type: Resistor

Rd1

Type: Resistor

Rp1

Type: Resistor

Rp2

Type: Resistor

Rd4

Type: Resistor

hall2

Type: SignalVoltage

Rd3

Type: Resistor

g1

Type: Ground

g2

Type: Ground

g3

Type: Ground

hall1

Type: CurrentSensor

g4

Type: Ground

g5

Type: Ground

phi

Type: AngleSensor

speed

Type: SpeedSensor

Jmotor

Type: Inertia

convert1

Type: Gain

convert2

Type: Gain

Used in Components (1)

AxisType2

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components

Axis model of the r3 joints 4,5,6