Version 4.1
SHEET 1 2896 680
WIRE 672 -320 672 -352
WIRE 672 -320 640 -320
WIRE 720 -320 672 -320
WIRE 832 -320 800 -320
WIRE 1120 -320 912 -320
WIRE 1120 -304 1120 -320
WIRE 1168 -304 1120 -304
WIRE 48 -288 16 -288
WIRE 240 -288 48 -288
WIRE 384 -288 320 -288
WIRE 512 -288 464 -288
WIRE 640 -272 640 -320
WIRE 1120 -272 1120 -304
WIRE 512 -192 512 -288
WIRE 1120 -176 1120 -192
WIRE 512 -144 512 -192
WIRE 16 -128 16 -288
WIRE 1120 -64 1120 -96
WIRE 16 16 16 -48
WIRE 96 16 16 16
WIRE 512 16 512 -64
WIRE 512 16 96 16
WIRE 640 32 640 -192
WIRE 720 32 640 32
WIRE 1120 32 1120 16
WIRE 1120 32 720 32
WIRE 96 48 96 16
WIRE 720 64 720 32
FLAG 96 48 0
FLAG 720 64 0
FLAG 672 -352 total_torque
FLAG 1168 -304 load_torque
FLAG 48 -288 Vin
FLAG 512 -192 back_emf
SYMBOL voltage 16 -144 R0
WINDOW 3 -143 98 Left 2
WINDOW 123 0 0 Left 0
WINDOW 39 0 0 Left 0
SYMATTR Value PULSE(0 10 1u 1 1 1 9)
SYMATTR InstName V1
SYMBOL res 224 -304 M90
WINDOW 0 0 56 VBottom 2
WINDOW 3 32 56 VTop 2
SYMATTR InstName R_armature
SYMATTR Value 500m
SYMBOL ind 368 -304 M90
WINDOW 0 5 56 VBottom 2
WINDOW 3 32 56 VTop 2
SYMATTR InstName L_armature
SYMATTR Value 1µ
SYMATTR SpiceLine Rser=1m
SYMBOL bv 512 -160 M0
WINDOW 0 39 38 Left 2
WINDOW 3 32 74 Left 2
SYMATTR InstName B_back_emf
SYMATTR Value V=5*I(R_ang_vel_sense)
SYMBOL res 1104 -288 R0
SYMATTR InstName R_load_mech_res
SYMATTR Value 1R
SYMBOL ind 1104 -192 R0
SYMATTR InstName L_mech_load_inertia
SYMATTR Value 1µ
SYMATTR SpiceLine Rser=1m
SYMBOL res 704 -336 M90
WINDOW 0 -113 66 Top 2
WINDOW 3 32 56 VTop 2
SYMATTR InstName R_motor_mech_res
SYMATTR Value 20m
SYMBOL ind 816 -336 M90
WINDOW 0 -136 37 Top 2
WINDOW 3 32 56 VTop 2
SYMATTR InstName L_motor_mech_inertia
SYMATTR Value 1µ
SYMATTR SpiceLine Rser=1m
SYMBOL bv 640 -288 R0
WINDOW 0 39 57 Left 2
SYMATTR InstName B_torque
SYMATTR Value V=5*I(R_armature)
SYMBOL res 1104 -80 R0
SYMATTR InstName R_ang_vel_sense
SYMATTR Value 1m
TEXT 664 -160 Left 2 ;5 is Ka \n(the torque constant)
TEXT 232 -48 Left 2 ;5 is Kv\n(back emf constant)
TEXT 496 -640 Left 2 ;motor model
TEXT -96 -816 Left 2 ;electrical simulation
TEXT 856 -832 Left 2 ;mechanical simulation
TEXT -192 -776 Left 2 ;current is current\nand\nvoltage is voltage
TEXT 984 -760 Left 2 ;angular velocity is current\nand \ntorque is voltage\n \nload mechanical resistance (R_load_mech_res)\nsometimes called "dashpot", uses the units\ntorque/ angular velocity.\nor Newton meters / (radians per second)\nor alternatively this can be expressed as \nNewton meter seconds / radian
TEXT 136 -1032 Left 5 ;A Simulation model for an electric motor.
TEXT -232 -960 Left 2 !.tran 5
TEXT 1608 -768 Left 4 ;Instructions (testing this motor model).
TEXT 1600 -696 Left 2 ;click on run\nthen click on the "Vin" net, to plot its voltage waveform\nthen click on the "back_emf" net, to plot its voltage waveform\nnote that there is a slight difference between these,\nthis is the voltagedropped in the armature resistance.\n \nclick on the plot window, then click on plot settings/add plot pane.\nclick on the "R_armature" component to plot its current\n \nclick on the plot window, then click on plot settings/add plot pane.\nplot "V(total torque), plot V(load torque), \nnote that there is a slight difference between these,\nthis is the power loss in the motors own mechanical resistance.\n \nclick on the plot window, then click on plot settings/add plot pane.\nthen click on the "Vin" net, to plot its voltage waveform\nin the graph window right click on the text "V(vin)", \nchange it to V(Vin)*I(R_armature), this is the input power.\nclick on the circuit, press and hold the alt key, click on the \n"R_load_mech_res"\nthis should plot the mechanical output power.\nnote that there is a slight difference between these, \nthis is the power loss in the motor armature, and the \npower loss in the motor mechanical resistance.
TEXT 1512 40 Left 0 ;You may republish or reuse this circuit implementation and text providing this line and the following lines are included.\nThis circuit implementation designed by Keith Wallbanks. Originally released on analogsimulation.co.uk\nThis circuit is provided as is without warranty of any kind. This text is intended to implement the MIT licence.
RECTANGLE Normal 944 80 176 -624 2
RECTANGLE Normal 560 112 -240 -800 2
RECTANGLE Normal 1408 112 592 -800 2