1 2-- Copyright (C) 2002 Morgan Kaufmann Publishers, Inc 3 4-- This file is part of VESTs (Vhdl tESTs). 5 6-- VESTs is free software; you can redistribute it and/or modify it 7-- under the terms of the GNU General Public License as published by the 8-- Free Software Foundation; either version 2 of the License, or (at 9-- your option) any later version. 10 11-- VESTs is distributed in the hope that it will be useful, but WITHOUT 12-- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 13-- FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 14-- for more details. 15 16-- You should have received a copy of the GNU General Public License 17-- along with VESTs; if not, write to the Free Software Foundation, 18-- Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 19 20library ieee_proposed; 21use ieee_proposed.mechanical_systems.all; 22use ieee_proposed.electrical_systems.all; 23 24entity DC_Motor is 25 generic ( r_wind : resistance; -- motor winding resistance [ohm] 26 kt : real; -- torque coefficient [N*m/amp] 27 l : inductance; -- winding inductance [henrys] 28 d : real; -- damping coefficient [N*m/(rad/sec)] 29 j : mmoment_i ); -- moment of inertia [kg*meter**2] 30 port ( terminal p1, p2 : electrical; 31 terminal shaft_rotv : rotational_v); 32end entity DC_Motor; 33 34---------------------------------------------------------------- 35 36architecture basic of DC_Motor is 37 38 quantity v across i through p1 to p2; 39 quantity w across torq through shaft_rotv to rotational_v_ref; 40 41begin 42 43 torq == -1.0 * kt * i + d * w + j * w'dot; 44 v == kt * w + i * r_wind + l * i'dot; 45 46end architecture basic; 47