The document outlines the steps to simulate the motion of an electric motor: 1) Import motor and gearbox data and calculate initial parameters. 2) Set initial conditions and start the simulation. 3) Calculate torque and acceleration at each time step and update position and velocity. 4) Check termination conditions and exit or continue to the next time step.

1. Import data from
Simulink model
Calculate M, θi, θf,
rmin, rmax, Imin and Imax
Import motor and
gearbox data
Calculate Tstall, ωmax
Set initial
conditions: θn-1=θi,
ωn-1=0, I=Imax,
D=constant
Start
Initialisation:
Tm=Tstall
Tg=M*g*rmax*sin(θi)
Tf=constant
Td=D*ωn-1
T=Tm-Tf-Tg
Yes No Yes No
ωn-1+(α*dt)>wmax?
ωn=ωn-1+(α*dt)ωn=ωmax
Yes No
Calculate
θn=θn-1+(ωn-1*dt)+(0.5*α*dt2
)
Calculate
θn=θn-1+(ωn-1*dt)+(0.5*α*dt2
)
θn<0? θn<0?
L=Imax*ωn
Exit
Yes
Yes
Calculate
ωL=ωn+((Imax*ωn-1
2
)/Imin)0.5
θ=θf?
ωL<ωn?
L=Imax*ωL
Exit
No
L=Imax*ωn
Exit
Yes
Yes
Calculate
ωL=ωn+((Imax*ωn-1
2
)/Imin)0.5
θ=θf?
ωL<ωn?
L=Imax*ωL
Exit
No
L=Imax*ωn
Exit
Yes
Yes
Calculate
ωL=ωn+((Imax*ωn-1
2
)/Imin)0.5
θ=θf?
ωL<ωn?
L=Imax*ωL
Exit
No
L=Imax*ωn
Exit
Yes
Yes
Calculate
ωL=ωn+((Imax*ωn-1
2
)/Imin)0.5
θ=θf?
ωL<ωn?
L=Imax*ωL
Exit
No
No No No No
Calculate:
Tm=Tstall-(ωn-1*(Tstall/ωmax))
Tg=M*g*r*sin(θn)
Tf=constant
Td=D*ωn-1
T=Tm-Tg-Tf-Td
Calculate:
Tm=Tstall-(ωn-1*(Tstall/ωmax))
Tg=M*g*r*sin(θn)
Tf=constant
Td=D*ωn-1
T=Tm+Tg-Tf-Td
Calculate:
Tm=Tstall-(ωn-1*(Tstall/ωmax))
Tg=M*g*r*sin(θn)
Tf=constant
Td=D*ωn-1
T=Tm-Tg-Tf-Td
Calculate:
Tm=Tstall-(ωn-1*(Tstall/ωmax))
Tg=M*g*r*sin(θn)
Tf=constant
Td=D*ωn-1
T=Tm+Tg-Tf-Td
Calculate
α=T/I
θn-1=θn
ωn-1=ωn