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-- Copyright (c) 2003 Mentor Graphics Corporation
--
-- This model is a component of the Mentor Graphics VHDL-AMS educational open 
-- source model library, and is covered by this license agreement. This model,
-- including any updates, modifications, revisions, copies, and documentation 
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-- notice that this model has been modified and the date of modification; and 
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--
-- THIS MODEL IS LICENSED TO YOU "AS IS" AND WITH NO WARRANTIES, EXPRESS OR 
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-- File       : DCMotor_rv.vhd
-- Author     : Mentor Graphics
-- Created    : 2001/06/16
-- Last update: 2003-05-23
-------------------------------------------------------------------------------
-- Description: Basic DC Motor with output of type ROTATIONAL_VELOCITY
-------------------------------------------------------------------------------
-- Revisions  :
-- Date        Version     Author              Description
-- 2001/06/16  1.0         Mentor Graphics     Created    
-------------------------------------------------------------------------------

-- Use proposed IEEE natures and packages
library IEEE;
use IEEE.mechanical_systems.all;
use IEEE.electrical_systems.all;

entity DCMotor_rv is

  generic (
    r_wind : resistance;                -- Motor winding resistance [Ohm]
    kt     : real;                      -- Torque coefficient [N*m/Amp]
    l      : inductance;                -- Winding inductance [Henrys]
    d      : real;                      -- Damping coefficient [N*m/(rad/sec)]
    j      : moment_inertia);           -- Moment of inertia [kg*meter**2]

  port (terminal p1, p2 : electrical;
        terminal shaft_rotv : rotational_velocity);

end entity DCMotor_rv;

-------------------------------------------------------------------------------
-- Basic Architecture
-- Motor equations:  V = Kt*W + I*Rwind + L*dI/dt
--                   T = -Kt*I + D*W + J*dW/dt
-------------------------------------------------------------------------------
architecture basic of DCMotor_rv is

  quantity v across i through p1 to p2;
  quantity w across torq through shaft_rotv to rotational_velocity_ref;

begin

  torq == -1.0*kt*i + d*w + j*w'dot;
  v  == kt*w + i*r_wind + l*i'dot;

end architecture basic;

-------------------------------------------------------------------------------
-- Copyright (c) 2003 Mentor Graphics Corporation
-------------------------------------------------------------------------------