WOLFRAM SYSTEMMODELER

Motor

Motor model including current controller of r3 motors

Diagram

Wolfram Language

In[1]:=
Click for copyable input
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).

Connectors (2)

flange_motor

Type: Flange_b

Description:

axisControlBus

Type: AxisControlBus

Description:

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

Components (27)

Vs

Type: SignalVoltage

Description:

diff

Type: IdealOpAmp

Description:

power

Type: IdealOpAmp

Description:

emf

Type: EMF

Description:

La

Type: Inductor

Description:

Ra

Type: Resistor

Description:

Rd2

Type: Resistor

Description:

C

Type: Capacitor

Description:

OpI

Type: IdealOpAmp

Description:

Rd1

Type: Resistor

Description:

Ri

Type: Resistor

Description:

Rp1

Type: Resistor

Description:

Rp2

Type: Resistor

Description:

Rd4

Type: Resistor

Description:

hall2

Type: SignalVoltage

Description:

Rd3

Type: Resistor

Description:

g1

Type: Ground

Description:

g2

Type: Ground

Description:

g3

Type: Ground

Description:

hall1

Type: CurrentSensor

Description:

g4

Type: Ground

Description:

g5

Type: Ground

Description:

phi

Type: AngleSensor

Description:

speed

Type: SpeedSensor

Description:

Jmotor

Type: Inertia

Description:

convert1

Type: Gain

Description:

convert2

Type: Gain

Description:

Used in Components (2)

AxisType1

Axis model of the r3 joints 1,2,3

AxisType2

Axis model of the r3 joints 4,5,6