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- model Power
- parameter Real J = 0.085;
- parameter Real b = 5;
- parameter Real K = 7.45;
- parameter Real R = 0.15;
- parameter Real L = 0.036;
- parameter Real V_abs = 12;
- Real V;
- output Real displacement;
- output Real armature_current;
- output Real speed;
- input Real tau;
- input Real u;
- input Real d;
- equation
- V = if u > 0.5 then V_abs
- else if d > 0.5 then -V_abs
- else 0.0;
- J * der(speed) + b * speed = K * armature_current - tau;
- L * der(armature_current) + R * armature_current = V - K * speed;
- der(displacement) = speed;
- annotation(
- experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-6, Interval = 0.002)
- );
- end Power;
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