modelServoMotor
Simplified model of a permanent magnet synchronous induction machine
Extends from DeltaRobot.Icons.ServoMotor (Icon for 'ServoMotor' model).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| DeltaRobot.Types.ServoMotorParameters | servoMotorParameters | Parameters of the servo motor |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.Rotational.Interfaces.Flange_b | flange | Shaft | |
| DeltaRobot.Interfaces.AxisControlBus | axisControlBus |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Angle | phi | Absolute mechanical rotation angle (flange.phi) | |
| SI.AngularVelocity | w | Mechanical angular velocity (der(phi)) | |
| SI.AngularAcceleration | a | Mechanical angular acceleration (der(w)) | |
| SI.Torque | Tref | Reference mechanical torque for shaft | |
| SI.Torque | T | Mechanical torque for shaft (flange.tau) | |
| SI.Power | Pmecc | Output mechanical power |