Modelling equations of DC motor

Rf
vf kv f pkv where R f rfx rf
Laf
rfx External resistance
va kv r ia ra ra a pia
Te kv ia where kv Laf i f
L ff Laa
f , a
Rf Ra
From the above equations
Laf
Rf
kv vf
f p 1
1
r Te TL
Jp Bm
 Laf /(rf * tf1) 1 kv=Laf * if if
1/Laf
s
vf
Integrator if
Subtract 1 Gain 2
Gain

1/tf1

Gain 4

1/(ta 1*ra)

Product 1

Gain 8
ia

1 ia
1/(ta 1*ra)
s
va Integrator 3
Subtract 2
Gain 1
Product

1/ta 1
Te

Gain 6

Te

1
30 /pi
s
speed
Load Torque Integrator 1 Speed
Subtract Gain 5

Bm /J

Gain 3
Input data

La=0.028;
ra=2.581;
rf=281.3;
Lf=156;
Laf=1;
J=0.02215;
Bm=0.002953;
tf1=Lf/rf;
ta1=La/ra;