Equivalent motor mass¶
Introduced in MORe v3.1
Represents an additional motor inertia. Can be used to model the rotor inertia without explicitly modeling it in FEM.
Block diagram¶
| Signal | Description |
|---|---|
| \(u_f\) | Filter output |
| \(u_v\) | Clutch link velocity |
| \(u_x\) | Clutch link position |
| \(v_{fb}\) | Motor velocity. Can be used as feedback in architecture. |
| \(x_{fb}\) | Motor position. Can be used as feedback in architecture. |
| \(y\) | Motor output. Force acting on clutch link. |
Parameter¶
| Variable | Units linear | Units rotary | Description |
|---|---|---|---|
| Stiffness | \(N/m\) | \(Nm/rad\) | Clutch stiffness |
| Damping | \(N s/m\) | \(Nm s/rad\) | Clutch damping |
| Inertia | \(kg\) | \(kg m^2\) | Rotor Inertia |
| Spindle pitch | \(-\) | \(m\) | Ball screw spindle pitch. Used for setpoint animation |
Clutch¶
Link selection to represent the motor. The controller output (force/torque) will be applied to the selected link.