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.

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	\(-\)	\(m\)	Ballscrew spindle pitch. Used for setpoint animation

Link selection to represent the motor. The controller output (force/torque) will be applied to the selected link.