This page includes the following components: Mechanical Model  Name  Specifies the name of the model.  Description  Specifies a description for the model.  Configuration 

 Symbol  Units  Default  Description 

Viscous Damping  F_{v}  Newton*meter*second per radian  0.00190986 Nm*s/rad  Combined viscous damping of the rotor and load, proportional to the angular velocity of the machine.  Static Friction  T_{f}  Newtonmeter  0.3665 Nm  Static friction resisting initial rotation when the machine is at rest.  Inertia  J  Kilogrammeter^2  0.0167309 Kg*m^2  Moment of inertia of the rotor and load. 
Mechanical Model Section ChannelsThis section includes the following custom device channels: Channel Name  Symbol  Type  Units  Default Value  Description 

Mechanical Model Mode 
 Input 
 0 (Speed Controlled)  Set this channel to one of the following values:  0  Sets the mechanical model to Speed Controlled mode. The mechanical parameters are ignored in this case.
 1  Sets the mechanical model to Torque Controlled mode.
See the Mechanical Model Mode section for more information.  UserDefined Speed  ω_{user}  Input  RPM  0 RPM  Forces the speed of the machine to the defined value. This parameter is used in Speed Controlled mode, and ignored in Torque Controlled mode.  Load Torque  T_{L}  Input  Nm  0 Nm  Torque applied to the shaft of the machine. This parameter is used in Torque Controlled mode, and ignored in Speed Controlled mode.  Mechanical Angle  θ_{m}  Output  Degrees  0°  Mechanical rotor position.  Electrical Angle  θ_{e}  Output  Degrees  90°  Position of the rotating magnetic field, defined by the equation:
LaTeX Math Inline 

body  uriencodedθ_%7Be%7D = (pp \cdot θ_%7Bm%7D)  90° 


 Mechanical Speed  ω_{m}  Output  RPM  0 RPM  Rotation speed of the machine rotor in RPM.  Electromagnetic Torque  T_{e}  Output  Nm  0 Nm  Torque generated through power at the stator. For equations describing the electromagnetic torque of each type of machine, refer to their specific description pages under the Machine Section.  Total Torque  T_{total}  Output  Nm  0 Nm  LaTeX Math Inline 

body  uriencodedT_%7Btotal%7D = T_%7Be%7D  T_%7BL%7D  T_%7Bf%7D 



Mechanical Model DescriptionAttached to the machine model's shaft is a basic mechanical model. This model was chosen due to its common application, and the ability to extend its functionality. The behavior of the model varies depending upon whether the Mechanical Model Mode is set to Torque Controlled (1) or Speed Controlled (0). Torque ControlledWhen the Mechanical Model Mode is set to Torque Controlled (1), the equation of the mechanical model can be expressed as follows:
LaTeX Math Block 

anchor  mech_speed 

alignment  center 

 \frac{\partial ω_m}{\partial t} = \frac{1}{J} * (T_{total}  F_v ω_m) 
where LaTeX Math Block 

anchor  TTotal 

alignment  center 

 T_{total}=T_eT_LT_f 
There is a deadzone implementation with the static friction torque; if the Electromagnetic Torque (T_{e}) does not exceed the Static Friction (T_{f}) torque, the speed remains at zero. Note that in equation LaTeX Math Block Reference 

 , the value of the mechanical speed (ω_{m}) is in radians per second, while the output of the Mechanical Speed channel will be in RPM. The equation for the Electromagnetic Torque (T_{e}) of each type of machine can be found on its specific description page under the Machine Section.The following equation is used to calculate the machine power: LaTeX Math Block 

anchor  Power 

alignment  center 

 P_{m} = T_{total} * ω_m 
Speed ControlledWhen the Mechanical Model Mode is set to Speed Controlled (0), the mechanical parameters (Viscous Damping, Static Friction, Inertia) are ignored. Instead, the rotor speed is directly set using the UserDefined Speed parameter, ω_{user}. Choosing a Mechanical Model ModeSelect Speed Controlled mode if:  Your project requires you to manually set the speed of the machine
 Your project has a mechanical model that requires you to input the speed of the machine in to the model
Select Torque Controlled mode if:  Your project requires you to manually set the load torque of the machine
 Your project has a mechanical model that requires you to input the load toque of the machine in to the model
