The equations of a **permanent magnet DC machine** read as
follows (Laplace operator s denotes differentiation with respect to
time):

Armature voltage loop : V_{A}- V_{i}= R_{A}(1 + s T_{A})I_{A}Armature time constant : T_{A}= L_{A}/ R_{A}Induced voltage : V_{i}= kΦ ω Flux constant : kΦ = (V_{A,Nom}- R_{A}I_{A,Nom}) / ω_{Nom}Torque : τ = kΦ I_{A}Equation of motion : s J_{tot}ω = τ - τ_{Load}Moment of inertia : J_{tot}= J_{r}+ J_{Load}Mechanical time constant : T_{m}= J_{total}ω_{Nom}/ τ_{Nom}Position : s φ = ω

The **inverter** applies the reference voltage to the
machine, but normally we have to take a dead time into account. The
inverter's dead time is approximated by a first order block with
time constant = dead time **T _{d}**.

The example VoltageSupplied applies a step voltage to the machine at stand still, the load torque is linearly dependent on speed.

Speed will rise up to that point of operation, where the difference between armature voltage and induced voltage drives an armature current which causes a torque that is in balance with the load torque at that speed.

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