|
| Parameter | Value |
|
| : input voltage | 40 V |
| : internal resistance of the source and MOSFET | 0.84 |
| : diode forward voltage | 1.1 V |
| : inductance | 2.473 mH |
| : internal resistance of the inductor | 1.695 |
| : capacitance | 46.27 F |
| : armature resistance | 2.7289 |
| : armature inductance | 1.17 mH |
| : viscous friction coefficient | 0.000138 N·m/rad/s |
| : moment of inertia | 0.000115 kg·m2 |
| : motor torque constant | 0.0663 N·m/A |
| : voltage constant | 0.0663 V/rad/s |
| : friction torque | 0.0284 N·m |
| : load torque | variable N·m |
| : reference speed | 200 and 300 rad/s |
| : switching frequency | 4 kHz |
| : sampling frequency | 4 kHz |
|
1 : unit time delay | 250 s |
| : motor speed | 28 bits resolution |
| : motor current | 12 bits resolution |
| : duty cycle | 10 bits resolution |
| Zero-order hold: fixed step discrete time | 250 s |
| : unity matrix of dimension 3 | |
| : unity matrix of dimension 7 | |
| : updating gain | |
| : updating gain | |
| : user-defined constant | 5 |
| and : user-defined gains | 1 |
| and : user-defined gains | 2.5 |
| : initial control action defined by the user | 30 V |
|