Geared motor¶
Introduced in MORe v4.2
Represents a geared motor. Models rotor and gear inertia including gear reduction.
Block diagram¶
Signal |
Description |
---|---|
\(u_f\) |
Filter output |
\(u_v\) |
Coupling link velocity |
\(u_x\) |
Coupling 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 coupling link. |
Parameter¶
Variable |
Units linear |
Units rotary |
Description |
---|---|---|---|
Gear ratio |
\(-\) |
\(-\) |
Gear ratio |
Stiffness |
\(N/m\) |
\(Nm/rad\) |
Stiffness of gear |
Damping |
\(N s/m\) |
\(Nm s/rad\) |
Damping of gear |
Inertia |
\(kg\) |
\(kg m^2\) |
Gear and motor inertia |
Spindle pitch |
\(-\) |
\(m\) |
Ballscrew spindle pitch. Used for setpoint animation. |
Coupling¶
Link selection to represent the motor. The controller output (force/torque) will be applied to the selected link.