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-- Copyright (C) 2002 Morgan Kaufmann Publishers, Inc
-- This file is part of VESTs (Vhdl tESTs).
-- VESTs is free software; you can redistribute it and/or modify it
-- under the terms of the GNU General Public License as published by the
-- Free Software Foundation; either version 2 of the License, or (at
-- your option) any later version.
-- VESTs is distributed in the hope that it will be useful, but WITHOUT
-- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-- FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
-- for more details.
-- You should have received a copy of the GNU General Public License
-- along with VESTs; if not, write to the Free Software Foundation,
-- Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
library ieee_proposed;
use ieee_proposed.mechanical_systems.all;
use ieee_proposed.electrical_systems.all;
entity DC_Motor is
generic ( r_wind : resistance; -- motor winding resistance [ohm]
kt : real; -- torque coefficient [N*m/amp]
l : inductance; -- winding inductance [henrys]
d : real; -- damping coefficient [N*m/(rad/sec)]
j : mmoment_i ); -- moment of inertia [kg*meter**2]
port ( terminal p1, p2 : electrical;
terminal shaft_rotv : rotational_v);
end entity DC_Motor;
----------------------------------------------------------------
architecture basic of DC_Motor is
quantity v across i through p1 to p2;
quantity w across torq through shaft_rotv to rotational_v_ref;
begin
torq == -1.0 * kt * i + d * w + j * w'dot;
v == kt * w + i * r_wind + l * i'dot;
end architecture basic;
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