.. _Motor: ================================================================================ Motor ================================================================================ Induction Motor group Common Parameters: u, name Available models: Motor3_, Motor5_ .. _Motor3: -------------------------------------------------------------------------------- Motor3 -------------------------------------------------------------------------------- Third-order induction motor model. See "Power System Modelling and Scripting" by F. Milano. To simulate motor startup, set the motor status ``u`` to ``0`` and use a ``Toggle`` to control the model. Parameters ---------- +-------+----------------+---------------------------+---------+-----------+------------+ | Name | Symbol | Description | Default | Unit | Properties | +=======+================+===========================+=========+===========+============+ | idx | | unique device idx | | | | +-------+----------------+---------------------------+---------+-----------+------------+ | u | :math:`u` | connection status | 1 | *bool* | | +-------+----------------+---------------------------+---------+-----------+------------+ | name | | device name | | | | +-------+----------------+---------------------------+---------+-----------+------------+ | bus | | interface bus id | | | mandatory | +-------+----------------+---------------------------+---------+-----------+------------+ | Sn | :math:`S_n` | Power rating | 100 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | Vn | :math:`V_n` | AC voltage rating | 110 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | fn | :math:`f` | rated frequency | 60 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | rs | :math:`r_s` | rotor resistance | 0.010 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | xs | :math:`x_s` | rotor reactance | 0.150 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | rr1 | :math:`r_{R1}` | 1st cage rotor resistance | 0.050 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | xr1 | :math:`x_{R1}` | 1st cage rotor reactance | 0.150 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | rr2 | :math:`r_{R2}` | 2st cage rotor resistance | 0.001 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | xr2 | :math:`x_{R2}` | 2st cage rotor reactance | 0.040 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | xm | :math:`x_m` | magnetization reactance | 5 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | Hm | :math:`H_m` | Inertia constant | 3 | *kWs/KVA* | power | +-------+----------------+---------------------------+---------+-----------+------------+ | c1 | :math:`c_1` | 1st coeff. of Tm(w) | 0.100 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | c2 | :math:`c_2` | 2nd coeff. of Tm(w) | 0.020 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | c3 | :math:`c_3` | 3rd coeff. of Tm(w) | 0.020 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | zb | :math:`z_b` | Allow working as brake | 1 | | | +-------+----------------+---------------------------+---------+-----------+------------+ Variables --------- +-------+------------------+----------+------------------------------------+------+------------+ | Name | Symbol | Type | Description | Unit | Properties | +=======+==================+==========+====================================+======+============+ | slip | :math:`\sigma` | State | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | e1d | :math:`e'_{d}` | State | real part of 1st cage voltage | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | e1q | :math:`e'_{q}` | State | imaginary part of 1st cage voltage | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | vd | :math:`V_{d}` | Algeb | d-axis voltage | | | +-------+------------------+----------+------------------------------------+------+------------+ | vq | :math:`V_{q}` | Algeb | q-axis voltage | | | +-------+------------------+----------+------------------------------------+------+------------+ | p | :math:`P` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | q | :math:`Q` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | Id | :math:`I_{d}` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | Iq | :math:`I_{q}` | Algeb | | | | +-------+------------------+----------+------------------------------------+------+------------+ | te | :math:`\tau_{e}` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | tm | :math:`\tau_{m}` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | a | :math:`\theta` | ExtAlgeb | Bus voltage phase angle | | | +-------+------------------+----------+------------------------------------+------+------------+ | v | :math:`V` | ExtAlgeb | Bus voltage magnitude | | | +-------+------------------+----------+------------------------------------+------+------------+ Initialization Equations ------------------------ +-------+------------------+----------+-----------------------------------------------------------------+ | Name | Symbol | Type | Initial Value | +=======+==================+==========+=================================================================+ | slip | :math:`\sigma` | State | :math:`1.0 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | e1d | :math:`e'_{d}` | State | :math:`0.05 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | e1q | :math:`e'_{q}` | State | :math:`0.9 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | vd | :math:`V_{d}` | Algeb | | +-------+------------------+----------+-----------------------------------------------------------------+ | vq | :math:`V_{q}` | Algeb | | +-------+------------------+----------+-----------------------------------------------------------------+ | p | :math:`P` | Algeb | :math:`u \left(I_{d} V_{d} + I_{q} V_{q}\right)` | +-------+------------------+----------+-----------------------------------------------------------------+ | q | :math:`Q` | Algeb | :math:`u \left(I_{d} V_{q} - I_{q} V_{d}\right)` | +-------+------------------+----------+-----------------------------------------------------------------+ | Id | :math:`I_{d}` | Algeb | :math:`1` | +-------+------------------+----------+-----------------------------------------------------------------+ | Iq | :math:`I_{q}` | Algeb | | +-------+------------------+----------+-----------------------------------------------------------------+ | te | :math:`\tau_{e}` | Algeb | :math:`u \left(I_{d} e'_{d} + I_{q} e'_{q}\right)` | +-------+------------------+----------+-----------------------------------------------------------------+ | tm | :math:`\tau_{m}` | Algeb | :math:`u \left(\alpha + \beta \sigma + \sigma^{2} c_{2}\right)` | +-------+------------------+----------+-----------------------------------------------------------------+ | a | :math:`\theta` | ExtAlgeb | | +-------+------------------+----------+-----------------------------------------------------------------+ | v | :math:`V` | ExtAlgeb | | +-------+------------------+----------+-----------------------------------------------------------------+ Differential Equations ----------------------------- +-------+----------------+-------+---------------------------------------------------------------------------------------------------------------+-----------+ | Name | Symbol | Type | RHS of Equation "T x' = f(x, y)" | T (LHS) | +=======+================+=======+===============================================================================================================+===========+ | slip | :math:`\sigma` | State | :math:`u \left(- \tau_{e} + \tau_{m}\right)` | :math:`M` | +-------+----------------+-------+---------------------------------------------------------------------------------------------------------------+-----------+ | e1d | :math:`e'_{d}` | State | :math:`u \left(\omega_{b} \sigma e'_{q} - \frac{I_{q} \left(- x' + x_{0}\right) + e'_{d}}{T'_{0}}\right)` | | +-------+----------------+-------+---------------------------------------------------------------------------------------------------------------+-----------+ | e1q | :math:`e'_{q}` | State | :math:`u \left(- \omega_{b} \sigma e'_{d} - \frac{- I_{d} \left(- x' + x_{0}\right) + e'_{q}}{T'_{0}}\right)` | | +-------+----------------+-------+---------------------------------------------------------------------------------------------------------------+-----------+ Algebraic Equations ----------------------------- +------+------------------+----------+------------------------------------------------------------------------------+ | Name | Symbol | Type | RHS of Equation "0 = g(x, y)" | +======+==================+==========+==============================================================================+ | vd | :math:`V_{d}` | Algeb | :math:`- V u \sin{\left(\theta \right)} - V_{d}` | +------+------------------+----------+------------------------------------------------------------------------------+ | vq | :math:`V_{q}` | Algeb | :math:`V u \cos{\left(\theta \right)} - V_{q}` | +------+------------------+----------+------------------------------------------------------------------------------+ | p | :math:`P` | Algeb | :math:`- P + u \left(I_{d} V_{d} + I_{q} V_{q}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | q | :math:`Q` | Algeb | :math:`- Q + u \left(I_{d} V_{q} - I_{q} V_{d}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | Id | :math:`I_{d}` | Algeb | :math:`u \left(- I_{d} r_{s} + I_{q} x' + V_{d} - e'_{d}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | Iq | :math:`I_{q}` | Algeb | :math:`u \left(- I_{d} x' - I_{q} r_{s} + V_{q} - e'_{q}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | te | :math:`\tau_{e}` | Algeb | :math:`- \tau_{e} + u \left(I_{d} e'_{d} + I_{q} e'_{q}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | tm | :math:`\tau_{m}` | Algeb | :math:`- \tau_{m} + u \left(\alpha + \beta \sigma + \sigma^{2} c_{2}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | a | :math:`\theta` | ExtAlgeb | :math:`P` | +------+------------------+----------+------------------------------------------------------------------------------+ | v | :math:`V` | ExtAlgeb | :math:`Q` | +------+------------------+----------+------------------------------------------------------------------------------+ Services ---------- +------+------------------+-----------------------------------------------------+--------------+ | Name | Symbol | Equation | Type | +======+==================+=====================================================+==============+ | wb | :math:`\omega_b` | :math:`2 \pi f` | ConstService | +------+------------------+-----------------------------------------------------+--------------+ | x0 | :math:`x_0` | :math:`x_{m} + x_{s}` | ConstService | +------+------------------+-----------------------------------------------------+--------------+ | x1 | :math:`x'` | :math:`\frac{x_{m} x_{R1}}{x_{m} + x_{R1}} + x_{s}` | ConstService | +------+------------------+-----------------------------------------------------+--------------+ | T10 | :math:`T'_0` | :math:`\frac{x_{m} + x_{R1}}{\omega_{b} r_{R1}}` | ConstService | +------+------------------+-----------------------------------------------------+--------------+ | M | :math:`M` | :math:`2 H_{m}` | ConstService | +------+------------------+-----------------------------------------------------+--------------+ | aa | :math:`\alpha` | :math:`c_{1} + c_{2} + c_{3}` | ConstService | +------+------------------+-----------------------------------------------------+--------------+ | bb | :math:`\beta` | :math:`- c_{2} - 2 c_{3}` | ConstService | +------+------------------+-----------------------------------------------------+--------------+ Config Fields in [Motor3] +---------------+--------+-------+---------------------------------------+-----------------+ | Option | Symbol | Value | Info | Accepted values | +===============+========+=======+=======================================+=================+ | allow_adjust | | 1 | allow adjusting upper or lower limits | (0, 1) | +---------------+--------+-------+---------------------------------------+-----------------+ | adjust_lower | | 0 | adjust lower limit | (0, 1) | +---------------+--------+-------+---------------------------------------+-----------------+ | adjust_upper | | 1 | adjust upper limit | (0, 1) | +---------------+--------+-------+---------------------------------------+-----------------+ .. _Motor5: -------------------------------------------------------------------------------- Motor5 -------------------------------------------------------------------------------- Fifth-order induction motor model. See "Power System Modelling and Scripting" by F. Milano. To simulate motor startup, set the motor status ``u`` to ``0`` and use a ``Toggle`` to control the model. Parameters ---------- +-------+----------------+---------------------------+---------+-----------+------------+ | Name | Symbol | Description | Default | Unit | Properties | +=======+================+===========================+=========+===========+============+ | idx | | unique device idx | | | | +-------+----------------+---------------------------+---------+-----------+------------+ | u | :math:`u` | connection status | 1 | *bool* | | +-------+----------------+---------------------------+---------+-----------+------------+ | name | | device name | | | | +-------+----------------+---------------------------+---------+-----------+------------+ | bus | | interface bus id | | | mandatory | +-------+----------------+---------------------------+---------+-----------+------------+ | Sn | :math:`S_n` | Power rating | 100 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | Vn | :math:`V_n` | AC voltage rating | 110 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | fn | :math:`f` | rated frequency | 60 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | rs | :math:`r_s` | rotor resistance | 0.010 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | xs | :math:`x_s` | rotor reactance | 0.150 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | rr1 | :math:`r_{R1}` | 1st cage rotor resistance | 0.050 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | xr1 | :math:`x_{R1}` | 1st cage rotor reactance | 0.150 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | rr2 | :math:`r_{R2}` | 2st cage rotor resistance | 0.001 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | xr2 | :math:`x_{R2}` | 2st cage rotor reactance | 0.040 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | xm | :math:`x_m` | magnetization reactance | 5 | | non_zero,z | +-------+----------------+---------------------------+---------+-----------+------------+ | Hm | :math:`H_m` | Inertia constant | 3 | *kWs/KVA* | power | +-------+----------------+---------------------------+---------+-----------+------------+ | c1 | :math:`c_1` | 1st coeff. of Tm(w) | 0.100 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | c2 | :math:`c_2` | 2nd coeff. of Tm(w) | 0.020 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | c3 | :math:`c_3` | 3rd coeff. of Tm(w) | 0.020 | | | +-------+----------------+---------------------------+---------+-----------+------------+ | zb | :math:`z_b` | Allow working as brake | 1 | | | +-------+----------------+---------------------------+---------+-----------+------------+ Variables --------- +-------+------------------+----------+------------------------------------+------+------------+ | Name | Symbol | Type | Description | Unit | Properties | +=======+==================+==========+====================================+======+============+ | slip | :math:`\sigma` | State | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | e1d | :math:`e'_{d}` | State | real part of 1st cage voltage | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | e1q | :math:`e'_{q}` | State | imaginary part of 1st cage voltage | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | e2d | :math:`e''_{d}` | State | real part of 2nd cage voltage | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | e2q | :math:`e''_{q}` | State | imag part of 2nd cage voltage | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | vd | :math:`V_{d}` | Algeb | d-axis voltage | | | +-------+------------------+----------+------------------------------------+------+------------+ | vq | :math:`V_{q}` | Algeb | q-axis voltage | | | +-------+------------------+----------+------------------------------------+------+------------+ | p | :math:`P` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | q | :math:`Q` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | Id | :math:`I_{d}` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | Iq | :math:`I_{q}` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | te | :math:`\tau_{e}` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | tm | :math:`\tau_{m}` | Algeb | | | v_str | +-------+------------------+----------+------------------------------------+------+------------+ | a | :math:`\theta` | ExtAlgeb | Bus voltage phase angle | | | +-------+------------------+----------+------------------------------------+------+------------+ | v | :math:`V` | ExtAlgeb | Bus voltage magnitude | | | +-------+------------------+----------+------------------------------------+------+------------+ Initialization Equations ------------------------ +-------+------------------+----------+-----------------------------------------------------------------+ | Name | Symbol | Type | Initial Value | +=======+==================+==========+=================================================================+ | slip | :math:`\sigma` | State | :math:`1.0 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | e1d | :math:`e'_{d}` | State | :math:`0.05 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | e1q | :math:`e'_{q}` | State | :math:`0.9 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | e2d | :math:`e''_{d}` | State | :math:`0.05 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | e2q | :math:`e''_{q}` | State | :math:`0.9 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | vd | :math:`V_{d}` | Algeb | | +-------+------------------+----------+-----------------------------------------------------------------+ | vq | :math:`V_{q}` | Algeb | | +-------+------------------+----------+-----------------------------------------------------------------+ | p | :math:`P` | Algeb | :math:`u \left(I_{d} V_{d} + I_{q} V_{q}\right)` | +-------+------------------+----------+-----------------------------------------------------------------+ | q | :math:`Q` | Algeb | :math:`u \left(I_{d} V_{q} - I_{q} V_{d}\right)` | +-------+------------------+----------+-----------------------------------------------------------------+ | Id | :math:`I_{d}` | Algeb | :math:`0.9 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | Iq | :math:`I_{q}` | Algeb | :math:`0.1 u` | +-------+------------------+----------+-----------------------------------------------------------------+ | te | :math:`\tau_{e}` | Algeb | :math:`u \left(I_{d} e''_{d} + I_{q} e''_{q}\right)` | +-------+------------------+----------+-----------------------------------------------------------------+ | tm | :math:`\tau_{m}` | Algeb | :math:`u \left(\alpha + \beta \sigma + \sigma^{2} c_{2}\right)` | +-------+------------------+----------+-----------------------------------------------------------------+ | a | :math:`\theta` | ExtAlgeb | | +-------+------------------+----------+-----------------------------------------------------------------+ | v | :math:`V` | ExtAlgeb | | +-------+------------------+----------+-----------------------------------------------------------------+ Differential Equations ----------------------------- +-------+-----------------+-------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+-----------+ | Name | Symbol | Type | RHS of Equation "T x' = f(x, y)" | T (LHS) | +=======+=================+=======+====================================================================================================================================================================================================================================+===========+ | slip | :math:`\sigma` | State | :math:`u \left(- \tau_{e} + \tau_{m}\right)` | :math:`M` | +-------+-----------------+-------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+-----------+ | e1d | :math:`e'_{d}` | State | :math:`u \left(\omega_{b} \sigma e'_{q} - \frac{I_{q} \left(- x' + x_{0}\right) + e'_{d}}{T'_{0}}\right)` | | +-------+-----------------+-------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+-----------+ | e1q | :math:`e'_{q}` | State | :math:`u \left(- \omega_{b} \sigma e'_{d} - \frac{- I_{d} \left(- x' + x_{0}\right) + e'_{q}}{T'_{0}}\right)` | | +-------+-----------------+-------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+-----------+ | e2d | :math:`e''_{d}` | State | :math:`u \left(\omega_{b} \sigma e'_{q} - \omega_{b} \sigma \left(- e''_{q} + e'_{q}\right) - \frac{I_{q} \left(- x' + x_{0}\right) + e'_{d}}{T'_{0}} + \frac{- I_{q} \left(x' - x''\right) - e''_{d} + e'_{d}}{T''_{0}}\right)` | | +-------+-----------------+-------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+-----------+ | e2q | :math:`e''_{q}` | State | :math:`u \left(- \omega_{b} \sigma e'_{d} + \omega_{b} \sigma \left(- e''_{d} + e'_{d}\right) - \frac{- I_{d} \left(- x' + x_{0}\right) + e'_{q}}{T'_{0}} + \frac{I_{d} \left(x' - x''\right) - e''_{q} + e'_{q}}{T''_{0}}\right)` | | +-------+-----------------+-------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+-----------+ Algebraic Equations ----------------------------- +------+------------------+----------+------------------------------------------------------------------------------+ | Name | Symbol | Type | RHS of Equation "0 = g(x, y)" | +======+==================+==========+==============================================================================+ | vd | :math:`V_{d}` | Algeb | :math:`- V u \sin{\left(\theta \right)} - V_{d}` | +------+------------------+----------+------------------------------------------------------------------------------+ | vq | :math:`V_{q}` | Algeb | :math:`V u \cos{\left(\theta \right)} - V_{q}` | +------+------------------+----------+------------------------------------------------------------------------------+ | p | :math:`P` | Algeb | :math:`- P + u \left(I_{d} V_{d} + I_{q} V_{q}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | q | :math:`Q` | Algeb | :math:`- Q + u \left(I_{d} V_{q} - I_{q} V_{d}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | Id | :math:`I_{d}` | Algeb | :math:`u \left(- I_{d} r_{s} + I_{q} x'' + V_{d} - e''_{d}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | Iq | :math:`I_{q}` | Algeb | :math:`u \left(- I_{d} x'' - I_{q} r_{s} + V_{q} - e''_{q}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | te | :math:`\tau_{e}` | Algeb | :math:`- \tau_{e} + u \left(I_{d} e''_{d} + I_{q} e''_{q}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | tm | :math:`\tau_{m}` | Algeb | :math:`- \tau_{m} + u \left(\alpha + \beta \sigma + \sigma^{2} c_{2}\right)` | +------+------------------+----------+------------------------------------------------------------------------------+ | a | :math:`\theta` | ExtAlgeb | :math:`P` | +------+------------------+----------+------------------------------------------------------------------------------+ | v | :math:`V` | ExtAlgeb | :math:`Q` | +------+------------------+----------+------------------------------------------------------------------------------+ Services ---------- +------+------------------+-----------------------------------------------------------------------------------------+--------------+ | Name | Symbol | Equation | Type | +======+==================+=========================================================================================+==============+ | wb | :math:`\omega_b` | :math:`2 \pi f` | ConstService | +------+------------------+-----------------------------------------------------------------------------------------+--------------+ | x0 | :math:`x_0` | :math:`x_{m} + x_{s}` | ConstService | +------+------------------+-----------------------------------------------------------------------------------------+--------------+ | x1 | :math:`x'` | :math:`\frac{x_{m} x_{R1}}{x_{m} + x_{R1}} + x_{s}` | ConstService | +------+------------------+-----------------------------------------------------------------------------------------+--------------+ | T10 | :math:`T'_0` | :math:`\frac{x_{m} + x_{R1}}{\omega_{b} r_{R1}}` | ConstService | +------+------------------+-----------------------------------------------------------------------------------------+--------------+ | M | :math:`M` | :math:`2 H_{m}` | ConstService | +------+------------------+-----------------------------------------------------------------------------------------+--------------+ | aa | :math:`\alpha` | :math:`c_{1} + c_{2} + c_{3}` | ConstService | +------+------------------+-----------------------------------------------------------------------------------------+--------------+ | bb | :math:`\beta` | :math:`- c_{2} - 2 c_{3}` | ConstService | +------+------------------+-----------------------------------------------------------------------------------------+--------------+ | x2 | :math:`x''` | :math:`\frac{x_{m} x_{R1} x_{R2}}{x_{m} x_{R1} + x_{m} x_{R2} + x_{R1} x_{R2}} + x_{s}` | ConstService | +------+------------------+-----------------------------------------------------------------------------------------+--------------+ | T20 | :math:`T''_0` | :math:`\frac{\frac{x_{m} x_{R1}}{x_{m} + x_{R1}} + x_{R2}}{\omega_{b} r_{R2}}` | ConstService | +------+------------------+-----------------------------------------------------------------------------------------+--------------+ Config Fields in [Motor5] +---------------+--------+-------+---------------------------------------+-----------------+ | Option | Symbol | Value | Info | Accepted values | +===============+========+=======+=======================================+=================+ | allow_adjust | | 1 | allow adjusting upper or lower limits | (0, 1) | +---------------+--------+-------+---------------------------------------+-----------------+ | adjust_lower | | 0 | adjust lower limit | (0, 1) | +---------------+--------+-------+---------------------------------------+-----------------+ | adjust_upper | | 1 | adjust upper limit | (0, 1) | +---------------+--------+-------+---------------------------------------+-----------------+