Matlab variables for these parameters:
L = 0.343*10^(-3); % H R = 11.4; % Ohm Kt = 11.2*10^(-3); % Nm/A Kemf = 1/(2*pi*849/60); % 849 [rpm/V] -> [V/(Rad/s)] J = 0.993*(10^-3)*(0.01)^2; % [g * cm^2] -> [kg * m^2] B = 0.00; % Friction coefficient G = 35; % Gearing coefficient Jload = 0.0; % N*m^2
Transfer function which converts torque into omega is derived from the following considerations(here I omit damping B):
And the settled speed actually is close enough to that of declared in
No load speed field(note that field is in RPM while plot is in rad/s). However if I change
Jload the behavior seems to be wrong. When I increase the load I expect that motor will shift along speed/torque curve leading to an increased current and reduced speed. Nevertheless making
Jload = 0.05 gives me the following output:
As you can see the only thing that changes is settling time. What am I missing here?