Документация

component DC_Motor
% DC Motor
% This block models a DC motor with an equivalent circuit comprising a
% series connection of a resistor, inductor, and electromechanical converter.
% Default values are as for the DC Motor Simscape example, ssc_dcmotor.

nodes
    p = foundation.electrical.electrical;               % +:left
    n = foundation.electrical.electrical;               % -:left
    R = foundation.mechanical.rotational.rotational;    % R:right
    C = foundation.mechanical.rotational.rotational;    % C:right
end

parameters
    rotor_resistance    = { 3.9, 'Ohm' };           % Rotor Resistance
    rotor_inductance    = { 12e-6, 'H' };           % Rotor Inductance
    motor_inertia       = { 0.01, 'g*cm^2' };       % Inertia
    breakaway_torque    = { 0.02e-3, 'N*m' };       % Breakaway friction torque
    coulomb_torque      = { 0.02e-3, 'N*m' };       % Coulomb friction torque
    viscous_coeff       = { 0, 'N*m*s/rad' };       % Viscous friction coefficient
    breakaway_velocity  = { 0.1, 'rad/s' };         % Breakaway friction velocity
    back_emf_constant   = { 0.072e-3, 'V/rpm' };    % Back EMF constant
end

components(ExternalAccess=observe)
    rotorResistor                  = foundation.electrical.elements.resistor(R = rotor_resistance);
    rotorInductor                  = foundation.electrical.elements.inductor(l = rotor_inductance);
    rotationalElectroMechConverter = foundation.electrical.elements.rotational_converter(K = ...
                                        back_emf_constant);
    friction                       = foundation.mechanical.rotational.friction(brkwy_trq = ...
                                        breakaway_torque, Col_trq = coulomb_torque, ...
                                        visc_coef = viscous_coeff, brkwy_vel = breakaway_velocity);
    motorInertia                   = foundation.mechanical.rotational.inertia(inertia = motor_inertia);
end

connections
    connect(p, rotorResistor.p);
    connect(rotorResistor.n, rotorInductor.p);
    connect(rotorInductor.n, rotationalElectroMechConverter.p);
    connect(rotationalElectroMechConverter.n, n);
    connect(rotationalElectroMechConverter.R, friction.R, motorInertia.I, R);
    connect(rotationalElectroMechConverter.C, friction.C, C);
end

end