Version 4 SHEET 1 4728 2004 WIRE 752 -608 672 -608 WIRE 896 -608 832 -608 WIRE 1008 -608 896 -608 WIRE 1104 -608 1008 -608 WIRE 1312 -608 1104 -608 WIRE 1616 -512 1616 -608 WIRE 2096 -512 1616 -512 WIRE 2416 -512 2176 -512 WIRE 2448 -512 2416 -512 WIRE 2672 -512 2592 -512 WIRE 2560 -448 2560 -480 WIRE 2240 -432 1728 -432 WIRE 2416 -432 2416 -512 WIRE 2416 -432 2384 -432 WIRE 896 -416 896 -608 WIRE 1312 -416 1312 -608 WIRE 848 -400 816 -400 WIRE 1008 -400 1008 -608 WIRE 1104 -400 1104 -608 WIRE 1264 -400 1216 -400 WIRE 848 -352 816 -352 WIRE 1264 -352 1232 -352 WIRE 2352 -352 2352 -400 WIRE 2480 -352 2480 -448 WIRE 2480 -352 2352 -352 WIRE 2272 -336 2272 -368 WIRE 816 -304 816 -352 WIRE 1232 -304 1232 -352 WIRE 1728 -288 1728 -432 WIRE 1840 -288 1728 -288 WIRE 2288 -288 1984 -288 WIRE 2352 -288 2352 -352 WIRE 2928 -272 2832 -272 WIRE 2960 -272 2928 -272 WIRE 3136 -272 3104 -272 WIRE 3328 -272 3280 -272 WIRE 3552 -272 3472 -272 WIRE 3808 -272 3552 -272 WIRE 896 -256 896 -336 WIRE 1008 -256 1008 -336 WIRE 1008 -256 896 -256 WIRE 1616 -256 1616 -512 WIRE 1616 -256 1008 -256 WIRE 1952 -224 1952 -256 WIRE 1952 -224 1872 -224 WIRE 3808 -224 3632 -224 WIRE 3248 -208 3248 -240 WIRE 3248 -208 3168 -208 WIRE 1952 -192 1952 -224 WIRE 2928 -192 2928 -272 WIRE 3008 -192 2928 -192 WIRE 3248 -176 3248 -208 WIRE 3632 -176 3632 -224 WIRE 3552 -160 3552 -272 WIRE 3584 -160 3552 -160 WIRE 3008 -144 3008 -192 WIRE 3040 -144 3040 -208 WIRE 3408 -144 3408 -208 WIRE 1104 -112 1104 -336 WIRE 1312 -112 1312 -336 WIRE 1312 -112 1104 -112 WIRE 1616 -112 1312 -112 WIRE 2352 -112 2352 -208 WIRE 2352 -112 1616 -112 WIRE 3584 -112 3552 -112 WIRE 3376 -96 3376 -144 WIRE 2288 -80 2288 -288 WIRE 3552 -80 3552 -112 WIRE 3632 -80 3632 -96 WIRE 3632 -80 3552 -80 WIRE 896 -48 896 -256 WIRE 1008 -48 1008 -256 WIRE 1104 -48 1104 -112 WIRE 1312 -48 1312 -112 WIRE 3072 -48 3072 -144 WIRE 3136 -48 3072 -48 WIRE 3632 -48 3632 -80 WIRE 848 -32 816 -32 WIRE 1264 -32 1216 -32 WIRE 2032 -16 1776 -16 WIRE 2208 -16 2176 -16 WIRE 2720 -16 2352 -16 WIRE 2832 -16 2832 -272 WIRE 2832 -16 2720 -16 WIRE 3072 0 3072 -48 WIRE 848 16 816 16 WIRE 1264 16 1232 16 WIRE 1776 32 1776 -16 WIRE 3376 32 3376 -16 WIRE 3440 32 3440 -144 WIRE 1616 80 1616 -112 WIRE 816 96 816 16 WIRE 896 96 896 32 WIRE 1008 96 1008 16 WIRE 1104 96 1104 16 WIRE 1232 96 1232 16 WIRE 1312 96 1312 32 WIRE 3072 128 3072 80 WIRE 1776 160 1776 112 WIRE 2672 176 2416 176 WIRE 1728 224 1728 -288 WIRE 1728 224 1536 224 WIRE 1888 224 1728 224 WIRE 2112 224 2112 48 WIRE 2112 224 2048 224 WIRE 2416 224 2416 176 WIRE 2416 352 2416 304 WIRE 2016 528 1888 528 WIRE 2240 528 2096 528 WIRE 2320 528 2240 528 WIRE 1888 576 1888 528 WIRE 2240 592 2240 528 WIRE 1888 720 1888 656 WIRE 2240 720 2240 656 WIRE 928 736 880 736 WIRE 1280 736 1072 736 WIRE 1664 736 1280 736 WIRE 2016 800 1888 800 WIRE 2240 800 2096 800 WIRE 2320 800 2240 800 WIRE 880 848 880 736 WIRE 1008 848 1008 800 WIRE 1664 848 1312 848 WIRE 1888 848 1888 800 WIRE 2240 864 2240 800 WIRE 1664 960 1312 960 WIRE 3104 960 2928 960 WIRE 2640 976 2464 976 WIRE 1888 992 1888 928 WIRE 2240 992 2240 928 WIRE 880 1008 880 928 WIRE 1008 1008 1008 928 WIRE 2928 1008 2928 960 WIRE 3440 1008 3440 960 WIRE 3600 1008 3600 976 WIRE 3776 1008 3776 976 WIRE 2464 1024 2464 976 WIRE 1664 1072 1312 1072 WIRE 1952 1072 1888 1072 WIRE 2928 1120 2928 1088 WIRE 1888 1136 1888 1072 WIRE 2464 1136 2464 1104 WIRE 3440 1136 3440 1088 WIRE 3600 1136 3600 1088 WIRE 3600 1136 3440 1136 WIRE 3776 1136 3776 1088 WIRE 3776 1136 3600 1136 WIRE 3440 1184 3440 1136 WIRE 1888 1264 1888 1216 FLAG 1008 1008 0 FLAG 3440 1184 0 FLAG 3600 976 Vpos FLAG 3440 960 Vbus FLAG 672 -608 Vbus FLAG 896 96 0 FLAG 816 -304 0 FLAG 1312 96 0 FLAG 1216 -400 Btop FLAG 1216 -32 Bbot FLAG 1888 720 0 FLAG 2240 720 0 FLAG 2320 528 Bus_Power FLAG 816 -400 Atop FLAG 816 -32 Abot FLAG 1280 736 pwm1 FLAG 1664 736 Atop FLAG 1664 848 Abot FLAG 1664 960 Btop FLAG 1664 1072 Bbot FLAG 1616 -608 M+ FLAG 1616 80 M- FLAG 2720 -16 Torque FLAG 1536 224 Wmech FLAG 1776 160 0 FLAG 3808 -272 Wmech FLAG 3376 32 0 FLAG 3072 128 0 FLAG 1888 992 0 FLAG 2240 992 0 FLAG 2320 800 Applied_Voltage FLAG 1952 1072 Shaft_Power FLAG 1888 1264 0 FLAG 3136 -48 Load FLAG 3632 -48 0 FLAG 3808 -224 RPM FLAG 880 1008 0 FLAG 3248 -176 0 FLAG 2464 1136 0 FLAG 2640 976 Motor_Power FLAG 2560 -448 0 FLAG 2672 -512 Back_EMF FLAG 2416 352 0 FLAG 2672 176 Motor_Current FLAG 2928 1120 0 FLAG 3104 960 Bus_Current FLAG 816 96 0 FLAG 1232 -304 0 FLAG 1232 96 0 FLAG 3776 976 Vneg FLAG 1312 1072 Vpos FLAG 1312 960 Vneg FLAG 1312 848 Vneg FLAG 1008 96 0 FLAG 1104 96 0 FLAG 1952 -192 0 FLAG 2272 -336 0 FLAG 3440 32 0 SYMBOL voltage 1008 832 R0 WINDOW 123 0 0 Left 2 WINDOW 39 0 0 Left 2 WINDOW 3 -206 264 Left 2 SYMATTR Value PULSE(-1 1 0 {p/2} {p/2} 0 {p} 100000) SYMATTR InstName V1 SYMBOL voltage 3600 992 R0 WINDOW 123 0 0 Left 2 WINDOW 39 0 0 Left 2 WINDOW 3 -39 93 Left 2 SYMATTR Value 5 SYMATTR InstName V3 SYMBOL voltage 3440 992 R0 WINDOW 0 -42 6 Left 2 WINDOW 3 -44 93 Left 2 WINDOW 123 0 0 Left 2 WINDOW 39 0 0 Left 2 SYMATTR InstName V6 SYMATTR Value 24 SYMBOL bv 1888 560 R0 SYMATTR InstName B1 SYMATTR Value V=v(Vbus)*i(R7) SYMBOL res 2112 512 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R12 SYMATTR Value 5k SYMBOL cap 2224 592 R0 SYMATTR InstName C3 SYMATTR Value 0.047µF SYMBOL res 2336 -304 R0 SYMATTR InstName R1 SYMATTR Value {Rt} SYMBOL ind 2080 -496 R270 WINDOW 0 32 56 VTop 2 WINDOW 3 5 56 VBottom 2 SYMATTR InstName L1 SYMATTR Value {L} SYMBOL bv 1776 16 R0 WINDOW 3 17 98 Left 2 SYMATTR Value V=I(L1)*Kt SYMATTR InstName B2 SYMBOL Subtractor 2112 -16 R0 SYMATTR InstName X3 SYMBOL Subtractor 2288 -16 M180 SYMATTR InstName X4 SYMBOL Subtractor 3040 -272 R0 SYMATTR InstName X6 SYMBOL Integrator 3408 -272 R0 SYMATTR InstName X7 SYMBOL voltage 3072 -16 R0 WINDOW 123 0 0 Left 2 WINDOW 39 0 0 Left 2 SYMATTR InstName V10 SYMATTR Value PWL(0 0 100m 0 101m 0.5) SYMBOL voltage 3376 -112 R0 WINDOW 123 0 0 Left 2 WINDOW 39 0 0 Left 2 WINDOW 3 -126 181 Left 2 SYMATTR Value PWL(0 -200 0.014 -200 0.016 100 0.029 100 0.031 300) SYMATTR InstName V11 SYMBOL Jumper 3040 -160 R180 SYMATTR InstName X8 SYMBOL bv 1888 832 R0 SYMATTR InstName B3 SYMATTR Value V= (V(M+) - V(M-)) SYMBOL res 2112 784 R90 WINDOW 0 0 56 VBottom 2 WINDOW 3 32 56 VTop 2 SYMATTR InstName R2 SYMATTR Value 5k SYMBOL cap 2224 864 R0 SYMATTR InstName C1 SYMATTR Value 0.047µF SYMBOL bv 1888 1120 R0 SYMATTR InstName B6 SYMATTR Value V = V(Load) * V(Wmech) SYMBOL e 3632 -192 R0 SYMATTR InstName E7 SYMATTR Value {30 / pi} SYMBOL voltage 880 832 R0 WINDOW 123 0 0 Left 2 WINDOW 39 0 0 Left 2 WINDOW 3 -33 -4 Left 2 SYMATTR Value 0 SYMATTR InstName V7 SYMBOL Subtractor 1008 736 R0 SYMATTR InstName X1 SYMBOL Clamp1 1968 224 R0 WINDOW 39 -49 85 Left 2 SYMATTR SpiceLine max={Kf}, min={-Kf} SYMATTR InstName X2 SYMBOL Gain 3184 -304 R0 WINDOW 3 -64 -44 Left 2 SYMATTR Value {1/(Jmotor + Jload)} SYMATTR InstName E9 SYMBOL bv 2464 1008 R0 SYMATTR InstName B4 SYMATTR Value V=V(Applied_Voltage)*I(L1) SYMBOL Gain 2496 -544 R0 SYMATTR InstName E8 SYMATTR Value 1 SYMBOL bv 2416 208 R0 SYMATTR InstName B5 SYMATTR Value V=I(L1) SYMBOL res 736 -592 R270 WINDOW 0 32 56 VTop 2 WINDOW 3 0 56 VBottom 2 SYMATTR InstName R7 SYMATTR Value 1E-9 SYMBOL bv 2928 992 R0 SYMATTR InstName B7 SYMATTR Value V=I(R7) SYMBOL sw 896 -320 M180 WINDOW 3 13 103 Left 2 SYMATTR Value VCS SYMATTR InstName S3 SYMBOL voltage 3776 1104 R180 WINDOW 0 24 104 Left 2 WINDOW 3 24 16 Left 2 WINDOW 123 0 0 Left 2 WINDOW 39 0 0 Left 2 SYMATTR InstName V2 SYMATTR Value 5 SYMBOL diode 1024 16 R180 WINDOW 0 24 72 Left 2 WINDOW 3 24 0 Left 2 SYMATTR InstName D2 SYMATTR Value MBRB2545CT SYMBOL Gain 1888 -320 R0 SYMATTR InstName E1 SYMATTR Value {Kd} SYMBOL Gain 2288 -464 R0 WINDOW 3 -28 34 Left 2 SYMATTR Value {Kemf} SYMATTR InstName E2 SYMBOL res 1296 -64 R0 SYMATTR InstName R3 SYMATTR Value 1E-9 SYMBOL Jumper 3408 -160 R180 SYMATTR InstName X5 TEXT 3352 512 Left 2 !.tran 0 200m 100E-9 uic TEXT 2760 568 Left 2 !.param p=50us TEXT 3352 480 Left 2 ;UNIPOLAR PWMS (2 QUADRANT OPERATION) TEXT 728 -480 Left 2 ;Power Stage TEXT 800 400 Left 2 ;PWM Generator TEXT 1712 -584 Left 2 ;Motor Model (Pittman DC Servo Motor\nModel 14206 with Winding # 3) TEXT 2128 96 Left 2 ;Friction\nMotor Bearings and Brushes TEXT 2040 -304 Left 2 ;Damping Losses TEXT 2888 -584 Left 2 ;LOAD TEXT 3800 -304 Left 2 ;Radians/sec TEXT 2992 -112 Left 2 ;lock\nrotor TEXT 3088 -120 Left 2 ;load\ntorque TEXT 2904 176 Left 2 ;To put motor on a dyno, set jumper to "lock rotor"\nand then use V11 to specify dyno speed. TEXT 2760 824 Left 2 !.param Jload = 100E-6 TEXT 2760 600 Left 2 !.param Kt = 0.071 TEXT 2760 792 Left 2 !.param Jmotor = 37E-6 TEXT 2760 632 Left 2 !.param Kemf = 0.071 TEXT 3032 600 Left 2 ;Newton-Meters/Amp TEXT 3032 632 Left 2 ;Volts/(radian/sec) TEXT 2760 664 Left 2 !.param Kf = 0.014 TEXT 3032 664 Left 2 ;Newton-Meters TEXT 2760 696 Left 2 !.param Kd = 13E-6 TEXT 3032 696 Left 2 ;Newton-Meters/(radian/sec) TEXT 2760 728 Left 2 !.param Rt = 0.84 TEXT 2760 760 Left 2 !.param L = 1.36E-3 TEXT 3032 792 Left 2 ;Kilograms-Meter^2 TEXT 3032 760 Left 2 ;Henries TEXT 3032 728 Left 2 ;Ohms TEXT 3032 824 Left 2 ;Kilograms-Meter^2 TEXT 784 168 Left 2 !.model VCS SW(Ron=10m Roff=10Meg Vt=0 Vser=0.6 Lser=10n) TEXT 3352 544 Left 2 !.options method = gear TEXT 376 1256 Left 2 ;D A V E W I L S O N\nT E X A S I N S T R U M E N T S LINE Normal 3376 -144 3072 -144 1 RECTANGLE Normal 1408 144 712 -512 RECTANGLE Normal 1632 1232 1360 608 RECTANGLE Normal 784 1232 1200 352 RECTANGLE Normal 2624 416 1704 -608 RECTANGLE Normal 3760 432 2880 -608