Mechanical model

Mechanical Model

The equation of the mechanical model in torque mode can be expressed as follows:

with

where  is the rotor speed in RPM,  is the electromagnetic torque in ,  is the torque command in ,  is the viscous friction coefficient in ,  is the rotor moment of inertia in , and  the time step in . There is a dead-zone implementation with the static friction torque , if the net torque doesn't exceed the static friction torque threshold value , given in , the speed remains zero.

In speed mode, the rotor speed is directly set to the speed command .