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nilseuropa / gazebo_ros_motors

Motor simulation plugins for Gazebo - ROS
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Understanding of the equations in dc motor #10

Closed eshafeeqe closed 2 years ago

eshafeeqe commented 2 years ago

Hi,

Thanks for open sourcing this project. I am trying to understand the equations used for modelling dc motor (shown below). Is there any documentation for understanding it more deeply. I saw a link to INSA Lyon, but it is broken now.

Screenshot from 2022-06-20 17-32-28

brunoda92 commented 2 years ago

Hi @eshafeeqe ! I had the same issue, but I found the current live link to INSA Lyon, here it is : http://www.ctrl-elec.fr/ctrl-elec/motor-control/dc-motor-control/84-2/ You can also check the file "dc_motor_de.pdf" which shows the actual discrete equations (same ones from your screenshot) that the plugin solves to find the current and velocity values in each instant. They are a little tough to read but the show better what's actually going on under the hood, since the continuous equations in the INSA Lyon link are not actually solved (as they are) by the plugin.

Hope it helps :)

eshafeeqe commented 2 years ago

@brunoda92 Thanks a lot for your reply, that cleared my doubt. I always thinking of solving this numerical way and never thought to solve analytically.