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Path: Electrical/Motor
% DC motor model.
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Form:
u = DCMotor( v, omega, d )
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Inputs
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v (:) Input voltage
omega (:) Angular rate (rad/sec)
d (:) Data structure
.kT Torque constant
.r Resistance
.iMax Maximum current
.iMin Minimum current
.kG Power amplifier gain
.vMax Maximum voltage
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Outputs
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u (:) Voltage
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