User guide

GEL100340
Description
It simulates a DC motor. This compound can be used for testing user control (for example AntiWindUp-PID
control).
Motor current [A] (MotorCurrent) has to be provided as input, and it is also possible to give a desired torque
disturbance [N m] (TorqueDisturbance). Compound provides motor speed [radkec] (MotorSpeed) and
motor angle [rad] (MotorAngle).
User has also to specify motor torque constant [N m/A] (SiTorqueCoust), motor inertia [kg m2]
(SiMotorInertia), that must be positive (and not equal to 0), motor viscous friction [N m set] (SiViscFr) and
constant friction torque [N m] (SiCoustFr).
Input logical variables
name
SiTorqueConst
type description
float Motor torque constant [N m/A]. It should be
positive
SiInertia
SiViscFr
SiConstFr
float
Motor inertia kg m2 1. It should be positive
float Motor viscous friction m m set]. It should be
positive
float Motor constant friction torque [N m]. It should be
Dositive
Output logical variables
None
Input ports
name
MotorCurrent
TorqueDisturbance
type
float
float
executed
always
always
description
Motor current [A] provided by user control
Desired torque disturbance [N m]
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Output ports
name type
MotorSpeed float
MotorAngle float
description
Motor speed usually used as feedback [rad/sec]
Motor angle usually used as feedback [rad/sec]
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