Geared motor

Introduced in MORe v4.2

Represents a geared motor. Models rotor and gear inertia including gear reduction.

Block diagram

Equivalent Mass 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.