Permanently Excited DC Motor

Schematic

../../../_images/ESBdcpermex.svg

Electrical ODE

\[\begin{split}\frac{\mathrm{d} i}{\mathrm{d} t} &= \frac{u_\mathrm{a} - \mathit{\Psi}^\prime_\mathrm{e} \omega_\mathrm{me} - R_\mathrm{a} i}{L_\mathrm{a}} \\\end{split}\]

Torque Equation

\[T = \mathit{\Psi}_\mathrm{e} i\]

Code Documentation