Motors!models of Target system!electromechanical subsystem!motor modeling
Motors!models of!current source Motors!models of!voltage source
Motors come in many varieties, but the most common are: brushed DC (BDC), brushless DC (BLDC), permanent-magnet brushed DC (PMDC), wound-stator DC (shunt, series, compound), stepper, and alternating current (AC, in its many flavors). We will focus on the BDC motor, and specifically the PMDC motor, which is the type chosen for the target system due to its ubiquity and appropriateness for the application of position and velocity control. This common variety is a popular choice for many applications, and the modeling techniques required are relatively straightforward and transferable to other classes of DC motor.
Two dynamic models of the motor as a lumped-parameter electromechanical subsystem are developed in this section. The model depends on the type of ideal electrical source chosen as the input. There are …
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