DC Series Motor

Schematic

../../../_images/ESBseries.svg

Electrical ODE

\[\begin{split}\frac{\mathrm{d} i}{\mathrm{d} t} &= \frac{u - L_\mathrm{e}^\prime i \omega_\mathrm{me} - (R_\mathrm{a} + R_\mathrm{e}) i}{L_\mathrm{a} + L_\mathrm{e}} \\\end{split}\]

Torque Equation

\[T = L_\mathrm{e}^\prime i^2\]

Code Documentation