Externally Excited DC Motor

Schematic

../../../_images/ESBdcExtEx.svg

Electrical ODE

\[\begin{split}\frac{\mathrm{d} i_\mathrm{a}}{\mathrm{d} t} &= \frac{u_\mathrm{a} - L_\mathrm{e}^\prime i_\mathrm{e} \omega_\mathrm{me} - R_\mathrm{a} i_\mathrm{a}}{L_\mathrm{a}} \\ \frac{\mathrm{d} i_\mathrm{e}}{\mathrm{d} t} &= \frac{u_\mathrm{e} - R_\mathrm{e} i_\mathrm{e}}{L_\mathrm{e}}\end{split}\]

Torque Equation

\[T = L_\mathrm{e}^\prime i_\mathrm{e} i_\mathrm{a}\]

Code Documentation