Differential equations for dc motor model

J L

d 2 d d 2 1 d =T b 2 = (K t i b ) 2 dt J dt dt dt di di 1 d = Ri + V e = ( Ri + V K e ) dt dt L dt

(1)

(2)

Simulink model for dc motor model

R Resistance V K Ke Add 1/L
d/dt(i)

1 s Integrator

Inductance

K Kt Add1

1/J Inertia

d2/dt2(theta)

1 s Integrator1

d/dt(theta)

Scope

b damping

Matlab Code to declare constants for dc motor model %Declare constants for dc motor model J b K R L = = = = = 0.01; 0.1; 0.01; 1; 0.5; %moment of inertia of the rotor %damping ratio of the mechanical system %electromotive force constant; K=Ke=Kt %electric resistance %electric inductance

Output of Scope from Simulink model (Open Loop Response)