.RealTimeCoordinationLibrary.Examples.Application.Parts.DCMotorCtrl_V4 .RealTimeCoordinationLibrary.Examples.Application.Parts.DCMotorCtrl_V4
Version 1.3
Created: 14.12.2010
Last modified: 11.07.2011
Model of a Faulhaber 1724 006 SR motor. The parameters shown below are taken from data sheet of the motor. Some properties of the model are as follows:
- The motor is attached to an inertia model with frictional torque which is modelled using finite state chart concept.
- The motor is attached to a lossy gear with adjustable gear ratio and also efficiency. By default it has a ratio of 14.4 and an efficiency of 78%
- An ideal gear is attached to the lossy gear to correct the direction of movement of the
A PI controller with anti-windup measure is used to control the speed of the motor.
Clamping of integrator is applied when limit of 6V is exceeded.
V1.3
- viscous friction added to friction model of inertia
| Nominal voltage | 6 | V |
| Terminal resistance | 3.41 | Ohm |
| Output power | 2.58 | W |
| Efficiency | 81 | % |
| No-load speed | 8600 | rpm |
| No-load current (with shaft ? 1,5 mm) | 0.02 | A |
| Stall torque | 11.5 | mNm |
| Friction torque | 0.13 | mNm |
| Speed constant | 1450 | rpm/V |
| Back-EMF constant | 0.690 | mV/rpm |
| Torque constant | 6.59 | mNm/A |
| Current constant | 0.152 | A/mNm |