% Variantas: 353297


% Values at nominal voltage

% Nominal voltage   48 V
% No load speed 3670 rpm
% No load current   289 mA
% Nominal speed 3420 rpm
% Nominal torque (max. continuous torque)   800 mNm
% Nominal current (max. continuous current) 6.8 A
% Stall torque  16100 mNm
% Stall current 131 A
% Max. efficiency   88 %

% Characteristics

% Terminal resistance   0.365 Ω
% Terminal inductance   0.161 mH
% Torque constant   123 mNm/A
% Speed constant    77.8 rpm/V
% Speed / torque gradient   0.231 rpm/mNm
% Mechanical time constant  3.25 ms
% Rotor inertia 1340 gcm²

% Thermal data

% Thermal resistance housing-ambient    1.3 K/W
% Thermal resistance winding-housing    1.85 K/W
% Thermal time constant winding 123 s
% Thermal time constant motor   1060 s
% Ambient temperature   -30...+100 °C
% Max. winding temperature  +125 °C

% Mechanical data

% Bearing type  ball bearings
% Max. speed    5500 rpm
% Axial play    0 - 0.1 mm
% Radial play   0.03 mm
% Max. axial load (dynamic) 70 N
% Max. force for press fits (static)    420 N
% (static, shaft supported) 12000 N
% Max. radial load  350 N, 15 mm from flange

% Other specifications

% Number of pole pairs  2
% Number of commutator segments 26
% Number of autoclave cycles    0

% Product

% Weight    2100 g

clc;
clear;
Unom=48;
R=0.365;
L=0.161e-3;
km=123e-3;
J=1340e-7;
b=0; %0.0001
ke=1/4.07;

% Variklio perdavimo funkcija

w_el = tf([1], [L R]);
w_mom = km;
w_mech = tf([1], [J b]);
w_evj = ke;

w_el_mom = series(w_el, w_mom);
w_el_mom_mech = series(w_el_mom, w_mech);
w_DC_var = feedback(w_el_mom_mech, w_evj)


% Griztamasis rysys
k = 0.07;
w_DC_var_k = feedback(w_DC_var, k)