% DC mootori Maxon 937 parameetrite sisestus:
%
% Ra - mootori mähise takistus	[ohm] (Armature resistance of motor)	
% La - mootori mähise induktiiv.[H]   (Armature inductance of motor)	
% Ki - mootori jõumomendi konst.[Nm/A](Torque constant of motor)	
% Kb - mootori vastu-emj. konst.[V/rad/s](Back-emf constant of motor)
% Jm - rootori inertmoment 	[kg.m^2](Inertia of motor rotor)	
% JL - koormuse inertmoment 	[kg.m^2](Inertia of load)		
% Bm - mootori hõõrdetegur	[Nms] (Motor Viscous-friction coef.)	
% BL - koormuse hõõrdetegur	[Nms] (Load Viscous-friction coef.)	
% N  - ülekande suhe		      (Gear-train ratio)		

N  = 1;

Ra = 41.5;
La = 0.00502;

Ki = 0.0552; % [Nm/A] 
Kb = 0.0552; % [V/rad/s] e 173 [rpm/V]
 
Jm = 0.00000232; % [Nm.s^2],[kg.m^2]
JL = 0.0000045;   % [Nm.s^2],[kg.m^2] 

Bm = 0.000003; % [Nms]  
BL = 0.000047;   % [Nms]

% Tau_meh=31,7ms
Tau_meh=1/roots([Jm Bm])

% Kogu inertsmoment (Total inertia)
Jt = Jm + (N^2)*JL

% Kogu hõõrdetegur
Bt = Bm + (N^2)*BL
