Modeling Electrical Characteristics
Modeling Mechanical Characteristics
After the electrical part, let's move on to the mechanical part:
The Complete Model
Arranging Equation 5, 11, 14, 15 and 16, we obtain the motor model like in the figure below.
From this figure, it can be seen that a motor have six unknown parameters, (1) motor resistance, (2) motor inductance, (3) load moment of inertia, (4) load viscous friction, (5) torque constant, Kt, and (6) speed constant, Ke. This is when the external torque, T1 is assumed zero.
In the next part, the simulation and interpretation will be shown, using some values for all these parameters. It is also interesting to know that there are topics in parameter estimation or system identification to identify the parameter values. Most probably this will not be covered here because it is quite extensive.
Check out the full series
Part II, III - Interlude