Parameters

Physical meanings

Units

θ_v

Valve opening

deg

θ_m

Motor rotary angle

deg

V

Motor voltage

V

T_sp, T_spl

Spring torque

-

N_g, N_v

Gear ratio

N∙m

J_m, J_g, J_v

Moment of inertia

N∙m∙s²

D_m, D_g, D_v

Viscous friction

N∙m∙s

E_g, E_v

Transmission efficiency

-

R

Motor internal resistance

Ω