In this design, the reference-, feedback- and error voltage operates around 2.5 V to avoid negative suplies. However, for easier description they are assumed to opperate around 0 V. For instance an error of 0 V would actually be 2.5 V in the simulation.
* Amot / Vref = 1 A/V
* Verr = -10 ⋅ (Vref - Vfb)
* Modes:
# Verr > 0.2V: ΔVmot/Δt = -1400 V/s
# -0.2V < Verr < 0.2V: ΔVmot/Δt = 0 V/s
# Verr < -0.2V: ΔVmot/Δt = 1400 V/s
Conventions:
Vref: Reference- or input voltage.
Vfb: Feedback voltage.
Verr: Motor current error voltage multiplied by 10.
Vmot: Voltage across motor.
ΔVmot/Δt: Change in voltage across motor per. sec.
Amot: Current through motor.
Notes:
The 10 Mohm across the 1 uF in the top, enables the program to find a "solution". It should be left out in real designs.
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