-- 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.electrical_systems.all;

entity motor_system_wa is  
  port ( terminal vp, vm, px1, px2, px3 : electrical);  -- 2 inputs, 3 outputs
end entity motor_system_wa;

----------------------------------------------------------------

architecture simple of motor_system_wa is
  
  quantity v_in across vp to vm;  -- Inout voltage/Current
  quantity x1 across ix1 through px1 to electrical_ref;
  quantity x2 across ix2 through px2 to electrical_ref;
  quantity x3 across ix3 through px3 to electrical_ref;
  constant Tfb : real := 0.001;
  constant Kfb : real := 1.0;
  constant Te : real := 0.001;
  constant Ke : real := 1.0;
  constant Tm : real := 0.1;
  constant Km : real := 1.0;
  constant c11 : real := -1.0/Tfb;
  constant c12  : real := 0.0;
  constant c13 : real := Kfb/Tfb;
  constant c21 : real := -Ke/Te;
  constant c22 : real := -1.0/Te;
  constant c23 : real := 0.0;
  constant c31 : real := 0.0;
  constant c32 : real := Km/Tm;
  constant c33 : real := -1.0/Tm;
  
begin  -- architecture simple
  
  x1'dot ==  c11*x1 + c12*x2 + c13*x3;
  x2'dot ==  c21*x1 + c22*x2 + c23*x3  + (Ke/Te)*v_in;
  x3'dot ==  c31*x1 + c32*x2 + c33*x3;
  
end architecture simple;